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.

@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.

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