References
[FrameTaskJacobian]
Jacobian of a kinematic task and derivatives on manifolds. S. Caron. 2023.
[MuJoCoEqualityConstraints]
MuJoCo Docs: Constraint Model. MuJoCo. 2025.
Jacobian of a kinematic task and derivatives on manifolds. S. Caron. 2023.
MuJoCo Docs: Constraint Model. MuJoCo. 2025.