Is there a way to get the robotic arm Jacobi matrix?

[yixiang66]

I am a beginner in omnigibson environment. I'm trying to determine if the robotic arm in the scene is close to a singularity by using its Jacobi matrix, but haven't found a way to get the matrix. I'd be very grateful if someone could tell me

[hang-yin]

Hi @yixiang66 , absolutely! You can try calling get_jacobian() on any articulated entities. Here's the docstring for this method fyi:

    def get_jacobian(self, clone=True):
        """
        Args:
            clone (bool): Whether to clone the underlying tensor buffer or not

        Returns:
            n-array: (N_links - 1 [+ 1], 6, N_dof [+ 6]) shaped per-link jacobian, if articulated. Note that the first
                dimension is +1 and the final dimension is +6 if the entity does not have a fixed base
                (i.e.: there is an additional "floating" joint tying the robot to the world frame)
        """