__When I impose the joint torque constraints into the toppra, i want to replaced the inv_dyn function provided by openRave with our own inverse dynamics function. Because my dynamics model contains viscous friction and coulomb friction, to the end, the each joint torque contains the ds item (as shown below).
I think that it need another coefficient matrix apart from a(s), b(s) and c(s), but I do not know how to fix this problem without violating the toppra.
__When I impose the joint torque constraints into the toppra, i want to replaced the inv_dyn function provided by openRave with our own inverse dynamics function. Because my dynamics model contains viscous friction and coulomb friction, to the end, the each joint torque contains the ds item (as shown below). I think that it need another coefficient matrix apart from a(s), b(s) and c(s), but I do not know how to fix this problem without violating the toppra.