Fix bug in operational space control #15
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Tested on the robot! Nothing broke! Merging |
bts5341
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…rush end effectors
bts5341
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Dec 17, 2021
…rush end effectors
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This PR fixes a small bug in transforming the quantities in the operational space controller (in iiwa_control).. Adds also the derivative of Jacobian in iiwa_tools and iiwa_service..