The current implementation of SecondOrderConstraint is incapable of handling constraints with dimensions different from the robot's dof.
Possible solution: Perhaps a more general implementation of SecondOrderConstraint is needed. Joint-torque with friction can be cast as a special case of this general implementation.
The current implementation of SecondOrderConstraint is incapable of handling constraints with dimensions different from the robot's dof.
Possible solution: Perhaps a more general implementation of SecondOrderConstraint is needed. Joint-torque with friction can be cast as a special case of this general implementation.