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

[SNOPT]

Gill, P. E., Murray, W., Saunders, M. A. (2005). SNOPT: An SQP algorithm for large-scale constrained optimization. SIAM Review, 47(1), 99-131. https://web.stanford.edu/group/SOL/papers/SNOPT-SIGEST.pdf

[SoftConstraintsMPC]

Kerrigan, E. C., Maciejowski, J. M. (2000). Soft constraints and exact penalty functions in model predictive control. UKACC International Conference on Control. http://www-control.eng.cam.ac.uk/Homepage/papers/cued_control_53.pdf