I don't have a solution for you, but I want to help you interpret the
numbers shown in the debug messages.
They are in "hex float" format.
You can decode them to standard decimal format using the commandline
printf program.
$ printf '%f\n' 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0
0.000000
0.000000
0.000000
0.000000
16.350819
0.000000
so this is the specific joint position for which the code is failing to
calculate the inverse jacobian.
Jeff
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