cartwheel: fix bug in cylinder moment of inertia
cartwheel: add code to calculate center of pressure for stance foot
cartwheel: cleanup, remove legacy stuff
kintree: generalized forces for ball (hip) joint
cartwheel: switch to joint space torques (generalized forces)
cartwheel: add more debug output
cartwheel: make TorqueController::bubbleUpTorques() explicit
cartwheel: split swing and stance leg control into two functions