added test for lwr and structured other test sources. youbot and lwr examples seem to work through the problem with choosing gains still remains
added dataset for new experiments with 4dof, youbot, lwr models. 4dof experiments include the ones with priorities (conflicting-data and nonconflicting-data2) and weighting (nonconflicting-3joint and conflicting(posture-test and testx). In case weighting two different weights were used; with Wp>>Wc and Wp>Wc; this was then inverted from betaPosture to betaConstraint Wc>>Wp and Wc>Wp)