Fix rotation tracking bug

DAIRLab / dairlib

MIT License

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Fix rotation tracking bug #266

Closed yminchen closed 2 years ago

yminchen commented 2 years ago

This PR fixes the bug of Cassie's pelvis rotation tracking.

I also found that another bug at +-90 degrees comes from the rank deficiency of contact constraints, which requires changing WorldPointEvaluator or adding a new class.

This change is