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I am rather new to screw theory and also lost in robotics books' formulas. we have a simulator of a robot arm within Mujoco physics engine and I'm wondering how I can calculate wrench and twist in the local and base coordinate frame.

In the simulator what I have available is the end-effector's translational (jacp) and rotational(jacr) Jacobians. In addition I can obtain joins positions, velocities, accelerations and torque sensors' readings along with some other time dependent variables that are usually available in simulators.

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