Ask for some explanations or examples of contactInverseDynamics() and computeContactImpulses()

[Zionshang]

I am very interested in pinocchio::contactInverseDynamics() and computeContactImpulses(). However, there is no examples using these two functions in examples folder.

I have read this paper Proximal and Sparse Resolution of Constrained Dynamic Equations, but still bothered by the arguments like

• cones: list of friction cones.
• R: vector representing the diagonal of the compliance matrix.
• constraint_correction: vector representing the constraint correction.

in these two functions, could you please provide some paper or cheat sheet to explain the arguments?

Thank you very much!!!!!