suspected bug report. Generating grasp candidates: - Line 72 : if .... < 1e-6: ==> this if condition is wrong. * refer to the context, normal pointing straight down should be rejected : thus if condition should be modified : ex. > 0.98

please check whether my report is correct or not.

Hi, I have a question about it.

Q1. pseudoinverse notebook uses JacobianWrtVariable.kQDot in the PseudoInverseController. However, JacobianWrtVariable.kV is used in the Pick notebook.

It means that qDot = v ?? So, is it okay to use either one ? - One confused thing : iiwa robot is 7 DOF robot. So, refer to the chapter 3 contents, position has 7 DOF (perhaps using quaternion), velocity has 6 DOF. How do we determine that qDot is not equal to v ? (Because I'm a beginner of the Drake, so I don't understand why qDot is equal to v in this example.)

Thanks.