[Explicit Compliance and Safety][1/3] Add external and compensation torques with equivalent joint accelerations to Robot across TVM and Tasks backend#500
Open
mathieu-celerier wants to merge 3 commits into
Conversation
…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.
for more information, see https://pre-commit.ci
This was referenced Feb 5, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR introduces explicit handling of external and compensation torques in
mc_rbdyn::Robotandmc_tvm::Robot, together with their equivalent joint accelerations, and ensures consistent propagation across both the TVM and Tasks QP solvers.New members are added to
mc_rbdyn::Robot:externalTorques_,compensationTorques_,externalTorquesAcc_, andcompensationTorquesAcc_, along with their corresponding setters and getters (setExternalTorques,setCompensationTorques,setExternalTorquesAcc,setCompensationTorquesAcc).Compensation torques and their associated accelerations are stored as std::optional.
These additions are intended to support future work on external force compensation and explicit compliance.
Since the Tasks backend does not rely on a computation graph, the joint accelerations equivalent to external and compensation torques are computed once at the beginning of
run_implfor reuse by tasks.For both Tasks and TVM backends, torque information is synchronized from
realRobotduring closed-loop execution.