Constraint Dynamics for Differential Drive Mobile Robot

[paolopetri]

Hi all,

I am trying to model a differential drive robot using Pinocchio's constrained dynamics functions. Specifically, I want to enforce the pure rolling constraint so that the wheels correctly influence the base motion. However, I haven't been able to successfully implement these constraints.

I have gone through the documentation and existing GitHub issues but haven't found an example related to nonholonomic constraints for wheeled robots.

Does anyone have experience with modeling differential drive robots in Pinocchio? Or could someone point me to the best approach for enforcing such constraints?

Any guidance would be greatly appreciated! Thanks in advance.