Discussion in 'Feature Requests' started by Junhyeok, Jul 28, 2017.
I am wondering if I could get a derivative of jacobian of link CoM
You would have to use a finite-difference approximation in the general case.
As far as I believe, ...
Jx = dx/dq
dot Jx = dot [ dx/dq] = d/dq [ dot x] = d/dq [v] = Jv (define v = dot x, define dot = d/dt)
Thus take Jacobian of velocity of com.
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