Jacobian Implementation

[mikekaram]

Hello Phylliade,

I am trying to use your code for a 6-dof manipulator I am building. However I want to take the Jacobian from my created chain and there isn't such function. Will you implement it in the near future? After I saw that, I am trying to implement it myself, but I am having trouble as I want the symbolic transformation matrix of each link, then multiply them all and get the final (symbolic) transformation matrix. After that it's a matter of differentiation with respect to the thetas I plug in. However the symbolic_transformation_matrix of every link is a function and not a sympy matrix, so i can't multiply them all together. Apart from that I want to specify the names of the variables (of the "thetas") for every symbolic matrix(every variable is called "theta"). Could you please help me in any way?

[stale]

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[Phylliade]

Hello @mikekaram, sorry for the late reply.

Support for a custom Jacobian is currently not possible with the current implementation.
I'm thinking about supporting alternative optimization schemes