I have discovered that in PolyScope version 5.16 and above, the URScript function get_jacobian() appears to be available. Using it as shown below seems to return a 6x6 Jacobian matrix at the current joint positions:
joint_positions = get_actual_joint_positions()
jacobian = get_jacobian(joint_positions)
This function is not documented in the official URScript manuals, suggesting it might be an undocumented internal function. I would like to inquire if anyone has information about this function, its intended use, and whether it is officially supported.
Additionally, are there any official alternatives for obtaining the Jacobian matrix, such as through RTDE or other interfaces?
It would be helpful to know if this function is intended for public use or if there are plans to officially support or deprecate it in future releases.