[Explicit Compliance and Safety] Introduce CBF formulation for collision and joint constraints - #531

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bastien-muraccioli wants to merge 10 commits into

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bastien-muraccioli:feature/cbf-constraints

Commits on May 4, 2026

[mc_rbdyn][mc_tvm] Add external and compensation torques member and their equivalent joint accelerations to `Robot`

mathieu-celerier
authored and
bastien-muraccioli
committed
0b7d9c0
[mc_solver] Manage computation of equivalent accelerations once for Tasks backend and closedLoop feedback type in both TVM and Tasks

mathieu-celerier
authored and
bastien-muraccioli
committed
b3030ab
[mc_solver] Add feedforward compensation torques to the `DynamicConstraint` in the Tasks backend

mathieu-celerier
authored and
bastien-muraccioli
committed
a39654c
[mc_solver] Add feedforward compensation torques to the `DynamicConstraint` in the TVM backend

mathieu-celerier
authored and
bastien-muraccioli
committed
8da3f77
fix(mc_solver): Update the dynamic constraint to make use of the new setExternalTorques funtion of Tasks MotionConstr

mathieu-celerier
authored and
bastien-muraccioli
committed
937f6a8
[mc_tasks] Add compliant version of several common tasks for Tasks backend

mathieu-celerier
authored and
bastien-muraccioli
committed
f4fcfa8
[mc_tasks] Add TVM backend support for compliant tasks

mathieu-celerier
authored and
bastien-muraccioli
committed
0dd1bb3
fix: Remove logs

mathieu-celerier
authored and
bastien-muraccioli
committed
491dcac
fix(ros): fix rebase mistake in ROS plugin

arntanguy
authored and
bastien-muraccioli
committed
ea7d13a

Commits on May 5, 2026

Add CBF to collision and joint constraints; log collision constraints
bastien-muraccioli
committed
2957e17