Added code in inria_wbc/controller/task.cpp to create actuation bounds from task.yaml file.
NB: does not handle "double" acceleration limits definition between actuation_bounds and posvelacc_bounds, so if using both kinds of bounds, there is two definitions for the acceleration limits. But this is handled in the QP, and examples do work.
Added code in inria_wbc/controller/task.cpp to create actuation bounds from task.yaml file. NB: does not handle "double" acceleration limits definition between actuation_bounds and posvelacc_bounds, so if using both kinds of bounds, there is two definitions for the acceleration limits. But this is handled in the QP, and examples do work.