Finished implementing and testing optimization framework. The one-armed demo works pretty well now, although all potentials depend only on x, not xd. The version of the joint potential that depended on xd as well was behaving a little strange, so it turned out to be better to simply reduce the strength scalar on the original log-barrier. Now the behavior is that the robot moves toward a joint limit and once it's almost there, it essentially redistributes the acceleration influence away from the joint to joints that are more free. I put in checks for whether the robot actually hits joint limits, and it never happens. There are currently no checks for whether the code is trying to evaluate the log-barrier potentials near infinity.