message: added kinematics to model example controller
diff: @@ -59,10 +59,19 @@ void ModelExampleController::update(const ros::Time& /*time*/, const ros::Durati
  std::array<double, 7> coriolis = model_handle_->getCoriolis(
  {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}, 0.0, {{0.0, 0.0, 0.0}});
  std::array<double, 7> gravity = model_handle_->getGravity(0.0, {{0.0, 0.0, 0.0}});
  + std::array<double, 16> joint_pose = model_handle_->getJointPose("franka_emika_joint4");
  + std::array<double, 42> joint4_body_jacobian =
  + model_handle_->getBodyJacobian("franka_emika_joint4");
  + std::array<double, 42> endeffector_zero_jacobian =
  + model_handle_->getZeroJacobian("franka_emika_EE");
  +
  ROS_INFO("--------------------------------------------------");
  ROS_INFO_STREAM("mass :" << mass);
  ROS_INFO_STREAM("coriolis: " << coriolis);
  ROS_INFO_STREAM("gravity :" << gravity);
  + ROS_INFO_STREAM("joint_pose :" << joint_pose);
  + ROS_INFO_STREAM("joint4_body_jacobian :" << joint4_body_jacobian);
  + ROS_INFO_STREAM("joint_zero_jacobian :" << joint_zero_jacobian);
  }
  }
  