What is the correct way to implement rolling contact?

[zixinz990]

I am trying to calculate the forward dynamics of a wheeled legged robot. I want to model the contact between the wheels and the ground as rolling contacts without slip. What is the correct way to achieve this in Pinocchio? My current thought is simply using contact 3D to constraint the position of the contact frame (a frame of which the origin is the contact point, and the orientation is aligned with the world frame), since for rolling contact, the contact point has no linear velocity but may has angular velocity.