%% Geometric Jacobian for Robot Configuration
% Calculate the geometric Jacobian for a specific end effector and configuration of a robot.
% Load a Puma robot, which is specified as a RigidBodyTree object.

load exampleRobots.mat puma1

%
% Calculate the geometric Jacobian of body 'L6' on the Puma robot for a random configuration.

geoJacob = geometricJacobian(puma1,randomConfiguration(puma1),'L6')

% Copyright 2012 The MathWorks, Inc.