do not distribute ForceMoment to swing foot

[YutaKojio]

EEFMQPで，遊脚にforce/momentを分配しないようにしました．

今まで

PR後

テストコード

openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,1,0,0,0 `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/floor1.wrl,5.392,-5.117,0.0197,0,1,0,0 --use-highgain-mode false --output /tmp/SampleRobot_for_torquecontrol_with_wall.xml --timeStep 0.001 --dt 0.002 && export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find openhrp3`/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf && rtmlaunch hrpsys_ros_bridge samplerobot.launch PROJECT_FILE:=/tmp/SampleRobot_for_torquecontrol_with_wall.xml hrpsys_precreate_rtc:=PDcontroller USE_UNSTABLE_RTC:=true RUN_RVIZ:=false

(progn
  (load "package:https://hrpsys_ros_bridge/euslisp/samplerobot-interface.l")
  (samplerobot-init)
  (setq *robot* *sr*)
  (send *ri* :angle-vector (send *robot* :reset-pose) 2000)
  (send *ri* :wait-interpolation)
  (send *ri* :start-auto-balancer)
  (send *ri* :start-st)
  (send *ri* :set-gait-generator-param :default-step-time 1.8 :default-orbit-type :stair)
  (send *ri* :go-pos 1 0 0)
)

[snozawa]

LGTM

[k-okada]

Refer to this link for build results (access rights to CI server needed):
https://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2595/
Test PASSed.