mJacobian_autodiff = drake::math::InitializeAutoDiff(mJv_robot1); //error is still there if I comment this line
mplant_autodiff->CalcJacobianTranslationalVelocity(*mContext_autodiff,
                                      multibody::JacobianWrtVariable::kQDot,
                                      *mFrame_EE_autodiff,
                                      Eigen::Vector3d::Zero(),
                                      *mWorld_Frame_autodiff,
                                      *mWorld_Frame_autodiff,
                                      &mJacobian_autodiff
                                      );


The errors are
examples/kuka_iiwa_arm/kuka_task_control_singularity.cc: In member function 'void drake::examples::kuka_iiwa_arm::{anonymous}::RobotPlanRunner::InitAutoDiffXd()':
examples/kuka_iiwa_arm/kuka_task_control_singularity.cc:469:39: error: no matching function for call to 'drake::multibody::MultibodyPlant<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> > >::CalcJacobianTranslationalVelocity(drake::systems::Context<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> > >&, drake::multibody::JacobianWrtVariable, const drake::multibody::Frame<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> > >&, const ConstantReturnType, const drake::multibody::Frame<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> > >&, const drake::multibody::Frame<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> > >&, drake::MatrixX<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> > >*)'
                                       );
                                       ^
In file included from bazel-out/k8-opt/bin/multibody/parsing/_virtual_includes/parser/drake/multibody/parsing/parser.h:8:0,
                 from examples/kuka_iiwa_arm/kuka_task_control_singularity.cc:35:
bazel-out/k8-opt/bin/multibody/plant/_virtual_includes/multibody_plant_core/drake/multibody/plant/multibody_plant.h:3303:8: note: candidate: void drake::multibody::MultibodyPlant<T>::CalcJacobianTranslationalVelocity(const drake::systems::Context<T>&, drake::multibody::JacobianWrtVariable, const drake::multibody::Frame<T>&, const Eigen::Ref<const Eigen::Matrix<Scalar, 3, -1> >&, const drake::multibody::Frame<T>&, const drake::multibody::Frame<T>&, drake::EigenPtr<Eigen::Matrix<LhsScalar, -1, -1, 0> >) const [with T = Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> >; typename Eigen::internal::conditional<const Eigen::Matrix<Scalar, 3, -1>::IsVectorAtCompileTime, Eigen::InnerStride<1>, Eigen::OuterStride<> >::type = Eigen::OuterStride<>]
   void CalcJacobianTranslationalVelocity(
        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
bazel-out/k8-opt/bin/multibody/plant/_virtual_includes/multibody_plant_core/drake/multibody/plant/multibody_plant.h:3303:8: note:   no known conversion for argument 4 from 'const ConstantReturnType {aka const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> >}' to 'const Eigen::Ref<const Eigen::Matrix<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1> >, 3, -1, 0, 3, -1>, 0, Eigen::OuterStride<> >&'