DH Table or Jacobine matrix for YuMI robot

yanjun_yang

My project requires modifying the transformation matrix to get the Jacobine matrix for a virtual link. The DH parameters I got are from the RobotStudio following this instruction. Since the data doesn't contain the transformation matrix from the link_1 to the base_link, I got this from the ROS TF topic. 

The problem is that the end effector showing on the controller doesn't match the position I calculated using the transformation matrix. 

It would be helpful if someone can provide me the correct transformation matrix or better the Jacobine matrix for YuMI. And please let me know if you need more information about my transformation matrix from the DH table.