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Bug in getZeroJacobian() with user defined coordinates #78

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@oscardegroot

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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);

Activity

fwalch

fwalch commented on Nov 6, 2019

@fwalch
Contributor

Hey, thanks for the report! bodyJacobian had the same bug as well. We'll include the fix in the next release.

added a commit that references this issue on Nov 6, 2019
fa20e93
added a commit that references this issue on Jul 15, 2020
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      Bug in getZeroJacobian() with user defined coordinates · Issue #78 · frankaemika/franka_ros