Partial Derivatives of a frame's Jacobian

[hyhan0118]

Hi,

Thank you for this powerful dynamics library! Currently I want to take the derivatives of equation of motion:
$$M(q)\ddot q + C(q,\dot q) = \tau + J(q)^T \lambda$$
But I have trouble taking the derivatives of $J(q)^T \lambda$. I notice that for $J(q)c$ I can use the getJointJacobianTimeVariation() function, but for its transpose I have no idea. Do you have any built-in function I can use?

[jcarpent]

This question has been answered by other means. Closing.