Fixed the segfaults, turned out I had also forgot to transpose a
spatial vector...
Oh wow that bug was in there undetected for at least a year or two:
PDTask quick setup would set kp = kd, oops!
added GenericSkill::dump
Still looks a little rough around the edges, but the basic test works:
joint-space posture takes care of controlling the robot, as long as no
per-link 1-DOF obstacle avoidance task interferes. Will need to add
visualization of the obstavoid internals and tweak the parameters to
make it smoother, of course.