Hi Pinocchio team,

I’m currently working with a gripper that uses mimic joints to define finger motion, and I’m trying to determine the correct procedure to:
1. Compute the gripper width from the current (mimicked) joint value.
2. Compute the required joint value given a target gripper width.

Is this functionality treated as part of FK/IK in Pinocchio, or is there a different recommended approach for dealing with mimic joints in this context? I couldn’t find an example in the documentation or demos that covers this specific case.

Any guidance or pointers would be greatly appreciated!

Kind regards,
Haris