Only use inequality constraint.
Update python binding.
Use new LSSOL::solve version.
Remove torque from the QP state.
Allow QPConstr to compute robot torque.
Revert "Add missing EIGEN_MAKE_ALIGNED_OPERATOR_NEW."

This reverts commit e87bb6286a636d7045565e9cc3e801548e09f8f0.
Merge branch 'no_torque'