Nix pendant to pr 465#507

Draft

arntanguy wants to merge 42 commits intojrl-umi3218:masterfrom

arntanguy:topic/nix-DynamicConstraint

Commits on Apr 17, 2026

[solver] Allow to pass polytope instead of friction cone
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[solver] Add feasible polytope to contact
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[logging] Add optional overloads to mc_rtc::log::*
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[DynamicPolytope] Pass polytope correctly in addContact
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[bugfix][mc_rbdyn] Properly store feasibilityPolytope in the qp contact
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Detail logic with comments

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[WIP] Add linear function and polytope node

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Mutex protect access of polytope

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[WIP] Structures for new node and polytope constraint

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fix: Lifetime of contact
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fix(contacts): Store contacts as pointers
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Add 3D and 6D options, handle default cases

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Update DynamicFunction to handle surface contacts

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Add contact wrench minimization and handle constraint size change

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feat(tvm_solver): Allow to generate dot file of TVM graph
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fix(tvm): Properly register updates of PostureFunction
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[Bugfix] Only build kinematic constraint in TVM impl if there are actuated joints

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Hold a polytope for each robot in the contact

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[temporary bugfix] Correct contact comparison (need to to this better at surface using parent robot frame)

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Handle dual robot contacts with the same variable

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Correct both wrenches frames for double robot contacts

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Remove unnecessary external updates for feasible polytopes

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[fix bindings] Add shared_ptr contacts to build bindings

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fix(tests): fix rebase mistake
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[solver] Disable minimization of contact forces
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Add access to solver dynamics constraints

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Correct frames for dual robot contact

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Add transforms map

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Store normals as MatrixXd instead of MatrixX3d expecting 6D extension

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[Bug] Remove TVM substitutions to avoid variables bug when adding and removing tasks

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[Bug] Workaround for missing TVM solver events triggers

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Add momentum velocity and update momentum function

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fix: Workaround for tasks that do addVariable after creation
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Fix Momentum function refVel and DynamicFunction erase order at contact removal

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Generalize polytope constraint for 3D and 6D

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Add surface torsional friction constraint

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Bugfix: Use jacobians in contact frame instead of body frame for wrench contacts

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Feat: Remove unnecessary additions and removals using TVM updates

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Bugfix: Correct opposite frames transform order

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feat(mc_rbdyn): Allow variable body mass
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feat(mc_rbdyn): Add force sensor frames
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[pre-commit.ci] auto fixes from pre-commit.com hooks

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