[Explicit Compliance and Safety][3/3] Introduce compliant task variants with Tasks and TVM backend support#502
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…heir equivalent joint accelerations to `Robot` Add the new members `externalTorques_`, `compensationTorques_`, `exteralTorquesAcc_` and `compensationTorquesAcc_` to `mc_rbdyn::Robot`. Allong with their setters and getters `setExternalTorques`, `setCompensationTorques`, `setExternalTorquesAcc`, `setCompensationTorquesAcc`. Note that the compensation torques and associated equivalent accelerations are set as std::optional. This is intended for later use for external forces compensation and explicit compliance.
…asks backend and closedLoop feedback type in both TVM and Tasks Since Tasks backend doesn't benefit from a computation graph, the joint acceleration equivalent to the external/compensation torques should be computed once before hand for later use by tasks in the solver. For both Tasks and TVM, the information of external torques in robot are updated from realRobot.
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…raint` in the Tasks backend Add an additional boolean argument to `DynamicConstraint` to enable compensation of external torques disturbance estimation. The boolean is defaulted to false to prevent breaking change. The feedforward compensation torques are passed as an `Eigen::VectorXd` to Tasks' `MotionConstr` and `MotionSpringConstr`. The compensation torques are obtained from `mc_rbdyn::Robot::compensationTorques()` if available or `mc_rbdyn::Robot::externalTorques()` otherwise.
…raint` in the TVM backend Add an additional boolean argument to `mc_tvm::DynamicFunction` to enable compensation of external torques disturbance estimation. The boolean is defaulted to false to prevent breaking change. The feedforward compensation torques are obtained directly in the `DynamicFunction` using `Robot`. The compensation torques are obtained from `mc_tvm::Robot::tauCompensation()` if available or `mc_rbdyn::Robot::tauExternal()` otherwise.
…setExternalTorques funtion of Tasks MotionConstr
…ckend New compliant alternative for tasks are: - CompliantPostureTask - CompliantPositionTask - CompliantOrientationTask - CompliantEndEffectorTask
Impacted tasks: - CompliantPostureTask - CompliantPositionTask - CompliantOrientationTask - CompliantEndEffectorTask
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This PR introduces compliant variants of several commonly used tasks in the Tasks and TVM backend.
New compliant task alternatives include:
CompliantPostureTaskCompliantPositionTaskCompliantOrientationTaskCompliantEndEffectorTaskTogether with the previous PRs on torque propagation and feedforward disturbance compensation, these additions provide the final building block for explicit compliance control within the mc_rtc task framework.
This PR include the content/commits of both #500 and #501 and extend it.