Changed Jacobian block to normal one, no need for sph.image jacobian. Added pinvJac instead of invJac and rejigged output wiring accordingly.
Changed Jacobian block to normal one, no need for sph.image jacobian.
Added pinvJac instead of invJac and rejigged output wiring accordingly.



yasha0b1/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab