Kinematics Frame Hessian

[Decembereye]

#867 The Pinocchio has implement of kinematic Hessian (tensor) dJ(q)/dq :getJointKinematicHessian() and ComputeJointKinematicHessian().However, sometimes it is needed to get the partial derivative of an end-effector frame Jacobian with respect to the joint angles,but in Pinocchio there is not appear an equivalent method like getFrameKinematicHessian().The similiar question had been issued in #867 by oliwiermelon and josyulakrishna.Is there a way to implement it in Pinocchio?
Thanks very much！

[jcarpent]

Dear @Decembereye,

Thanks for raising this interesting issue. Just to let you know that we have implemented this feature in Pinocchio 4, that should be available very soon.

Best,
Justin