ReferencesΒΆ
[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