Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.
Added the possibility to select qpSWIFT as back-end. There is a strange small bug: when selecting qpSWIFT as back-end, the terminal output is "???" for the qp solver name, but the solver is correctly loaded. This should be considered when merging the branch.
Added the possibility to select qpSWIFT as back-end. There is a strange small bug: when selecting qpSWIFT as back-end, the terminal output is "???" for the qp solver name, but the solver is correctly loaded. This should be considered when merging the branch.