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Add the possibility to compensate an external disturbance torques - #112

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Open

Add the possibility to compensate an external disturbance torques#112
mathieu-celerier wants to merge 2 commits into
jrl-umi3218:masterfrom
mathieu-celerier:topic/add-feedforward-torque-motion-constraint

Change external torque to std::optional, remove the reference and add…

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