Inverse Kinematic using Jacobian

Discussion in 'Modeling' started by Isaac, Jun 27, 2019.

  1. Hey,
    I'm trying to do inverse kinematic for panda robot in Mujoco then test it on the real robot. I calculate the Jacobian and when I check it with mujoco results, Jr is equal but Jp is a little different. Is it because of the approximation? I get the jacobian using mj_jacBody function from mujoco.
    Thank you