:github_url: https://github.com/kevinzakka/mink/tree/main/docs/references.rst

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References
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.. [FrameTaskJacobian] Caron, S. (2023). Jacobian of a kinematic task and derivatives on manifolds. https://scaron.info/robotics/jacobian-of-a-kinematic-task-and-derivatives-on-manifolds.html

.. [MuJoCoEqualityConstraints] MuJoCo Documentation: Constraint Model. https://mujoco.readthedocs.io/en/stable/computation/index.html#constraint-model