fix adm control (backport #32) #33
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* fix adm rule * revert impedance rule to normal inverse() (instead of LLT-based inverses) * increase alpha pinv * check for singularities in impedance control * prepare admittance for singularity checks * add commented alternative method for acc estimation * fix missing var in impedance rule * change start position * use "end_effector_frame" instead of control frame (cherry picked from commit 5921f9a)
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This is an automatic backport of pull request fix adm control #32 done by Mergify.