The refs are the following: https://gamedev.stackexchange.com/questions/108920/applying-angular-velocity-to-quaternion https://math.stackexchange.com/questions/2282938/converting-from-quaternion-to-angular-velocity-then-back-to-quaternion http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf https://fgiesen.wordpress.com/2012/08/24/quaternion-differentiation/ Probably changes need to be done also in the robot palm orientation parametrization definition.
The refs are the following:
https://gamedev.stackexchange.com/questions/108920/applying-angular-velocity-to-quaternion
https://math.stackexchange.com/questions/2282938/converting-from-quaternion-to-angular-velocity-then-back-to-quaternion
http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf
https://fgiesen.wordpress.com/2012/08/24/quaternion-differentiation/
Probably changes need to be done also in the robot palm orientation parametrization definition.