Differential Kinematics Feature Request

[jcarpinelli-bdai]

For dynamics compensation in controllers, it would be really helpful to have access to functions which compute the time derivative of the manipulator Jacobian, and potentially also the manipulator Hessian matrix.

[AndreasKuhner]

Hi @jcarpinelli-bdai ,
under-the-hood we use now pinocchio in libfranka - might that one just provide all of this functionality?

Cheers,
Andreas

[kmohyeldin]

Hi @jcarpinelli-bdai , you migh need to check pinocchio with CppAD or CasADi. in the mean while. it is not yet there in our systems