Create model for Operational Space example.
Simulation of upper body without a controller.
Remove pelvis. Add gravity compensation.
Wrote out code trying to use efficient methods.
Minimal-ish working example of op-space control.
Functional Jacobian TaskSpace classes.
Jacobian transpose operator is functional.
Inertia and Jbar classes.
Functional inefficient TaskSpace class.
User can move the target.
Reduce derivative gain.
Fix gravity sign error.
Add comment describing how to move target.
Add a second task.
Added inertial force.
set up system to cache TaskSpaceQuantities.
Make nullspace transpose more efficient.
Some optimizations.
Rearrange files.
About to add back the rest of the body.