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Hi,
In franka_model_interface.h, implementation of getZeroJacobian() (line 258). I think the implementation should use the given function arguments, i.e.,
return model_->zeroJacobian(frame, *robot_state_);
Should be
return model_->zeroJacobian(frame, q, F_T_EE, EE_T_K);
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fwalch commentedon Nov 6, 2019
Hey, thanks for the report!
bodyJacobian
had the same bug as well. We'll include the fix in the next release.Fix unused parameter bugs in FrankaModelHandle
Release 0.7.0 - 2020-07-15