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Get the Constraint Matrix G for model with mimic joints. #2602

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MegMll opened this issue Mar 3, 2025 · 0 comments
Open

Get the Constraint Matrix G for model with mimic joints. #2602

MegMll opened this issue Mar 3, 2025 · 0 comments

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@MegMll
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MegMll commented Mar 3, 2025

Mimic joints in pinocchio were implemented following explicit constraints. (see Rigid Body Dynamics, chapter 10, Roy Featherstone)

Adding a function to get the constraint matrix G that allows to transform data, such as mass matrix, from full model to mimic model.

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