- TEMP: when starting the controller, set desired values for CoM and posture to measured values
- improve computation time of “nullspace projection” control algorithm (remove useless decomposition of Jc)
- add monitor parameter for measured joint torques
- set desired joint torques immediately when switching from position to torque control
- set DEFAULT_AUTOMATIC_CRITICALLY_DAMPED_GAINS to false (this way, changing the proportional gains does NOT automatically set the derivative gains to 2*sqrt(Kp))
- comment torque sensor reading because it was taking about 4 ms
- comment some useless debug prints
Merge remote-tracking branch 'origin/superbuild' into superbuild