- fix bug: did not initialize vector for normalized joint positions
- fix bugs in implementation of joint-limit inequalities: I had forgotten to project the inequality matrix in the previous tasks' null-space
- implement joint-limit inequalities even for postural task
remove useless print
- add print inside eigQuadProg when problem is unbounded
temporarely disable reaching task
Add drift compensation for contact constraints (to avoid slow slipping)
Add debug prints when QP cannot be solved (print all problem data and which QP couldn't be solved)