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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.
The text was updated successfully, but these errors were encountered:
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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.
The text was updated successfully, but these errors were encountered: