Hand-object Jacobian

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Hand-object Jacobian

Arti
Hi,

So lets say i have the Barret hand loaded in my environment and object. I searched the space for a candidate grasp and now that i have the grasp, I want to calculate the hand-object Jacobian. So i was wondering if can just do something like this ?


endeff = robot.GetActiveManipulator().GetEndEffector()
hand.CalculateActiveJacobian(endeff.GetIndex(),object.GetTransform())
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