Additional modifications for torque balancing
Little changes to make wholeBodyReach compile on Linux
- use torso orientation error to compute desired derivative of angular momentum
- fix little bug in Logger
- add some comments
- add control algorithm (comSoT), but maybe I won't need to implement it because now the angular momentum control works (thanks to the torso orientation error)
- implement joint limit inequality constraints (but they do not work yet)
- remove useless control algorithm "COM_SOT"
- temporarely remove clock synchronization with simulator
- deactivate orientation control for motion control task
- add grasping hand task in hierarchy
- link parameters qMax and qMin to variables of joint-limits task
update configuration file of wholeBodyReach for gazebo simulator
Merge branch 'master' of https://github.com/robotology/codyco-modules

# By Francesco Romano (11) and others
# Via Daniele (2) and others
* 'master' of https://github.com/robotology/codyco-modules: (43 commits)
  Little changes to make wholeBodyReach compile on Linux
  Additional modifications for torque balancing
  Check at compile time if paramHelp is exactly version 0.0.1
  Adapted code to paramHelp changes
  Debugging torqueBalancing
  Added new version of debug mdl
  Configuration file for JTC
  URDF file for iCubGenova01
  Configuration file for torqueBalancing C++
  Added Hybrid dynamics computation
  Fixed controlBoardDumper configuration
  Update README.md
  Update README.md
  Update CMakeLists.txt
  Updated walking dumper app template
  Added walking demo dumpers
  Added torque saturation on torqueBalancing
  Zeroed some variables at initialization
  Added support for new mode to reachRandomJointPositions
  [wholeBodyDynamicsTree] Cleaned information printed during calibration
  ...
Fix bug in computation of nullspace projectors (introduced in last commit)
Re-enable synchronization with simulator's clock. Temporarely disable joint-limit task.
- re-enable joint-limit task
- fix bug in check of joint limits (QP was correct, just debug prints were wrong)
Enlarge joint limits
Add scope file for plotting joint limits
Add monitor parameter for normalized joint angles (w.r.t. joint limits)
- 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)
Use root-link's orientation for computing desired derivative of angular momentum (rather than torso's orientation)