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MIT 6.4210/2: Robotic Manipulation
Fall 2023, Lecture 5
Kinematic Jacobian: \( {}^WV^G = J^{G}(q) v \)
\( v = [J^{G}(q)]^{+} {}^WV^G \)
spatial velocity
generalized velocity
\( v = [J^{G}(q)]^{+}\,{}^WV^G \)
prog = MathematicalProgram()
x = prog.NewContinuousVariables(2)
prog.AddConstraint(x[0] + x[1] == 1)
prog.AddConstraint(x[0] <= x[1])
prog.AddCost(x[0] ** 2 + x[1] ** 2)
result = Solve(prog)