Added HuntCrossley contact model
(osim file + checking in preprocessor)
Major edit for returning WBO param.com
(it only includes translational acc,
+ minor typo in description comments)
Fixed a bug in RegulateCoMTransAccWithInvPendulum
(index for saturateCommand acc[2] + some printing)
Shifted Pelvis Z position to positive side of z-axis
(to handle incosistency in left/right legs orientations,
the left leg seems to drift by time, still exists with this fix)
Used only refacc for controlCOM
(PD was removed for now to test the effect of ref_vel and ref_pos,
they seem not to be the source of drift)
Used convertRotationToBodyFixedXYZ for controlOrientation
(instead of convertThreeAxesRotationToThreeAngles,
diff between them should be tested more carefully)
Initializing knee angles to non-zero to handle potential singularity
(foot angles change accordingly and should be compensated,
+ some minor priniting edits)