Compliant foot planting on angled surfaces

[naveenoid]

Issue to track the tasks needed to investigate compliant foot planting under uncertainty on surface orientation.

• [ ] Cartesian solver for the 2 legs to move from double stable phase to single foot planting (@traversaro and naveen)
• [x] Exposing of impedance control interface (@francesco-romano )
• [ ] Setup of gazebo with the angled surface block object (naveen)
• [ ] Setup of experiment data gathering scripts (naveen)

[traversaro]

For the first bullet point, please check : https://github.com/robotology/codyco-modules/issues/107 .

[francesco-romano]

Second point has a separate issue: https://github.com/robotology-playground/yarp-wholebodyinterface/issues/41

[francesco-romano]

Interaction mode implemented for a single joint in https://github.com/robotology-playground/yarp-wholebodyinterface/commit/8a24605ef3956591edba90a99687a73abeed0245

[traversaro]

Research actively successfully published in http://ieeexplore.ieee.org/abstract/document/7803270/ , closing the issue.