function J  = getJacobianMatrix(RM,M_pos_base)
    J = zeros(6);

    J(:, 1:3) = RM;
    for i = 1:6
        J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :));
    end

    function M = getCrossProductMatrix(v)
        M = zeros(3);
        M(1, 2) = -v(3);
        M(1, 3) =  v(2);
        M(2, 3) = -v(1);
        M(2, 1) = -M(1, 2);
        M(3, 1) = -M(1, 3);
        M(3, 2) = -M(2, 3);
    end
end