corrected jacobian name

otokatli · Mar 7, 2024 · 45e63a2 · 45e63a2
1 parent d73f007
commit 45e63a2
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/kinova_gen3/kinematics/jacobian.py b/kinova_gen3/kinematics/jacobian.py
@@ -144,7 +144,7 @@ def jacobian(q):
     x110 = x29 - x89
     x111 = x107 + x48
 
-    analytical_jacobian = numpy.array(
+    geometric_jacobian = numpy.array(
         [
             [
                 -0.01175 * x0
@@ -267,4 +267,4 @@ def jacobian(q):
         ]
     )
 
-    return analytical_jacobian
+    return geometric_jacobian