What jacobian is computed exactly?

[JonathanKuelz]

Hey, I have short question regarding the Jacobian matrix: Looking through the code, I am still not entirely sure which Jacobian exactly is computed.

In the second last line of the implementation the jacobian is "converted" to the world frame. The code before looks like a geometric derivation of this Jacobian. Am I correct assuming the result is the geometric Jacobian, expressed in the world frame?

Thanks in advance!

[powertj]

Yes, the jacobian calculated is the geometric jacobian in the world frame.