fix adm control (backport #32)

ICube-Robotics / cartesian_controllers_ros2

Set of cartesian controllers for ros2_control

Apache License 2.0

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Closed mergify[bot] closed 3 weeks ago

mergify[bot] commented 3 weeks ago

add singularity detection
revert to normal inverses (as opposed to choleski decomposition-based ones)
various fixes
This is an automatic backport of pull request #32 done by Mergify.