final product of inequality-based desired velocity constraint, LCP is not solvable, trying equality constraint instead, -- see next commit
final product of inequality-based desired velocity constraint, LCP is not solvable, trying equality constraint instead, -- see next commit
slack variable alpha is a free variable.  LCP is solving without regularization, but resulting torques are not good
Merge branch 'master' of https://github.com/PositronicsLab/Pacer