Hi I have a robot model with qpos of dimension 31 with several equality constraint. Currently I am able to get data on 20 of these numbers, and in principle the rest can be obtained by enforcing the equality constraints. I wonder if there are ways for me to get these extra joints info directly from Mujoco.
I am not entirely sure what you mean... are you trying to create equality constraints between two points in the model, and need the coordinates of those points? If so, you can use simulate.cpp (or MuJoCo HAPTIX), left double-click on a point of interest, and enable visualization of the selection point (press E) AND labeling of the selection point (use ./ keys in simulate). This will print a label showing the coordinates of the point in the local and global frame.