Close loop handling

[CelianDaligault]

These modifications allow the kinematics closed loop handling with the loading of coincidence constraints. Some modifications will be added soon.

Requires: jrl-umi3218/RBDyn#127

[arntanguy]

Thanks a lot for this, much needed!

• Please remove all changes not related to the PR, and in the future do not commit them in the first place
• Open the corresponding PR in Tasks
• @CelianDaligault @ThomasDuvinage @mehdi-benallegue any reason why this was only implemented in Tasks? This is likely a broader discussion than this PR, but do we really want to split the effort of maintaining both Tasks and TVM?

PS: We came accross this paper with @Hugo-L3174 : URDF+: An Enhanced URDF for Robots with Kinematic Loops, if this picks up stream it might be worth updating RBDyn's urdf parser to support it.

[Saeed-Mansouri]

@arntanguy @CelianDaligault @Hugo-L3174
I’d also like to suggest reviewing another related work: Extended URDF: Accounting for parallel mechanism in robot description. It might provide additional insights for handling parallel mechanisms in robot description formats and could complement the discussions around updating RBDyn’s URDF parser.

[mehdi-benallegue]

Hi @arntanguy, I agree with you. As I am not involved with this research I can only comment to say that not only we should work on both, but I would add that I support any effort to permanently move to TVM so we won't have to support both. So double +1