Can QPInverseProblemSolver be used for parallel robot control?

[sodasoda520]

Dear SOFA community,
I'm working on a parallel robot with five degrees of freedom (3 translational + 2 rotational joints, with some translational joints decoupled). I've been studying the QPInverseProblemSolver in SOFA and found it very interesting for real-time inverse kinematics solving.
From the documentation and examples I've reviewed (like Diamond platform), most applications seem to focus on serial robots or soft robots. I'm wondering:
1.Is it possible to use QPInverseProblemSolver for parallel robot control?
2.If yes, how should we handle the closed-chain constraints? Are there any specific components or approaches recommended for parallel mechanisms?
3.Are there any existing examples or tutorials about using SOFA/QPInverseProblemSolver with parallel robots?
I've tried looking into components like RestShapeSpringsForceField and RigidMapping for handling the constraints, but I'm not sure if this is the right approach.
Any guidance, examples, or suggestions would be greatly appreciated!

Best regards,

[damienmarchal]

I think @EulalieCoevoet is the best one that can provides an answer.