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One option is to create a robot model from KDLKinematics. This package can compute the Jacobian and mass matrix using the following functions from here: jacobian() and inertia(). You would have to change the end_link when calling the KDLKinematics() function for calculating jacobian() and inertia() for different chains.
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One option is to create a robot model from KDLKinematics. based on the URDF. This package can compute the Jacobian and mass matrix using the following functions from here: jacobian() and inertia(). You would have to change the end_link when calling the KDLKinematics() function for calculating jacobian() and inertia() for different chains. chains.
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