what is the reference frame of the jacobian computed by moveit
when use RobotState.getJacobian()
to compute jacobian matrix, which frame dose the result express in ?
Is it the same as what we get from RobotModel.getModelFrame()
? What if I get "world"
from RobotModel.getModelFrame()
, but I want to calculate jacobian with respect to the link_0
of my robot (which is different from world link), what should I do ?