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Finding feasible EE position with custom cost term

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Hi, my goal is to find an endeffector position, which is feasible and as close as possible to the target position. I am wondering, if the results I get are...

TermTaskspaceGeometricJacobian

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I have a few questions regarding the Taskspace costfunction term you provide in the rbd module: https://github.com/ethz-adrl/control-toolbox/blob/v3.0.2/ct_rbd/include/ct/rbd/robot/costfunction/TermTaskspaceGeometricJacobian.hpp especially concerning the analytical derivatives. 1. In the `stateDerivative` method you use the...

Using ct_rbd Kinematics classes with SCALAR type

2

I created a custom System of my Robot using the Dynamics and Kinematics wrappers that ct_rbd provides. I am retrieving the Jacobian matrix using: ~~~ ct::rbd::MyUR::Kinematics::Jacobians::Type_fr_world_J_fr_ee_link jacobian_instance; auto J =...