References

[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

[MicroLie]

Solà, J., Deray, J., Atchuthan, D. (2018). A micro Lie theory for state estimation in robotics. https://arxiv.org/abs/1812.01537

[MuJoCoEqualityConstraints]

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