Jacobian

[boeckhoff]

especially since new hardware version (dualPanto ember) uses asymmetric linkages we really need a jacobian representation of the render-space to accurately render haptics.

[lukaswagner]

just an idea, are the linkages symmetric regarding the y-axis (user to panto)? that would mean the matrix could be the same for both, with the values for one handle being mirrored.