Summary

A block similar to the Jacobian block,

but provided with 2 frame names as inputs, it gives the relative Jacobian between the 2 frames.

It can implement the iDyntree method

bool KinDynComputations::getRelativeJacobian(const iDynTree::FrameIndex refFrameIndex,
                                             const iDynTree::FrameIndex frameIndex,
                                             iDynTree::MatrixDynSize & outJacobian)

In https://github.com/robotology/idyntree/blob/f9051752ca5a6ca8f3a4f101e4a536fe1eb62c5f/src/high-level/src/KinDynComputations.cpp#L1661-L1663

Motivation

It seems like a clean way to have the relative jacobian since the iDyntree function is already available, we just had to wrap it.

Additional context

We drafted a quick block (with @Giulero's help), it looks like this

It was a quick draft to test it with the robot, but I think we can omit the input ${ }^{world} H_{base}$.