e.g. rpy jacobain-> geometric jacobian https://github.com/HiroIshida/tinyfk/blob/dc1e95b0cd4243e0bfaef1036c2354a0efee7e46/src/kinematics.cpp#L160
e.g. rpy jacobain-> geometric jacobian
tinyfk/src/kinematics.cpp
Line 160 in dc1e95b