moved the constraint switching one level up, hoping it will simplify the implementation of "the" algorithm
Not too bad, although I switched to a straight-up Moore-Penrose
pseudo-inverse in the task composition. The main reason for that is
the fact that we're going to mix objectives using differing units, and
a determining a single damping factor is not well defined in that
case. Also, had to add a lowest-priority joint posture task to damp
the remaining redundancy. Not sure whether to always keep that in or
only add it as required by the rank of the secondary task.