[Explicit Compliance and Safety][2/3] Add optional feedforward compensation torques to DynamicConstraint in TVM and Tasks backends - #501

Open

mathieu-celerier wants to merge 6 commits into

jrl-umi3218:masterfrom

mathieu-celerier:topic/add-compensation-torques-dynamic-constraint

Commits on Feb 5, 2026

[mc_rbdyn][mc_tvm] Add external and compensation torques member and their equivalent joint accelerations to `Robot`
mathieu-celerier
committed
8f29769
[mc_solver] Manage computation of equivalent accelerations once for Tasks backend and closedLoop feedback type in both TVM and Tasks
mathieu-celerier
committed
3364753
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot]
committed
f066056

Commits on Mar 23, 2026

Commits on May 7, 2026

fix(mc_solver): Update the dynamic constraint to make use of the new setExternalTorques funtion of Tasks MotionConstr
mathieu-celerier
committed
50e5f89