- disable “automatic derivative gain” for momentum task
- remove computation of COM Jacobian (because I realized I don’t need it)
- remove CoM derivative filter, because I finished debugging that problem
- add inequality constraints to force QP (it runs without problems, but I haven’t checked the matrices yet)
- change implementation of inequality constraints: assume only upper bound to simplify code
- add roc parameters for force and moment friction coefficients
- convert QP inequality matrix from ColumnMajor to RowMajor (maybe this introduces an additional copy when calling the QP solver)
Add yarpscope configuraiton files for plotting base pos-vel and torso joint pos-vel