sim.computeJacobian() is returning -1
Posted: 13 Feb 2019, 16:24
I am having trouble retrieving the Jacobian using the regular API.
So, I have created a new scene, and then imported the Sawyer robot. Then, I created an IK group using the calculation modules, with a tip and a target, and explicit handling not checked. Then, I added a child script for the Sawyer robot, and edited the actuation code as follows:
This prints out the following:
So what I am finding, is that "sim.computeJacobian()" is returning -1, which is an error. And subsequently, the Jacobian is empty.
What do I need to change?
So, I have created a new scene, and then imported the Sawyer robot. Then, I created an IK group using the calculation modules, with a tip and a target, and explicit handling not checked. Then, I added a child script for the Sawyer robot, and edited the actuation code as follows:
Code: Select all
function sysCall_actuation()
print('Actuation ...')
ik_group_handle = sim.getIkGroupHandle('Sawyer_IK_group')
print('handle:')
print(ik_group_handle)
result = sim.computeJacobian(ik_group_handle, 0)
print('result:')
print(result)
jacobian = sim.getIkGroupMatrix(ik_group_handle, 0)
print('jacobian:')
print(jacobian)
print('... Done')
end
Code: Select all
Actuation ...
handle:
2030003
result:
-1
jacobian:
... Done
What do I need to change?