1. A system for controlling motion and constraint forces in a robotic system, the system comprising: one or more processors and a memory, the memory having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of: inferring constraints from a sensed state of robot/environment interactions; appending the inferred constraints to known internal robot constraints to generate constrained dynamics; determining properties associated with the constrained dynamics and providing the properties to a controller; determining inequality conditions associated with maintaining desired robot/environment interactions; specifying a set of equality conditions based on the inequality conditions; aggregating the set of equality conditions with any internal robot constraints to generate aggregated conditions that are provided to the controller; generating joint torque commands for the robot based on the aggregated conditions and a specified task and null space motion command; and actuating the robot based on the joint torque commands.