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Hi,
in the [edo] branch you can find the integration of the inverse dynamics solver OpenSotAcc with the Cartesian Interface. Tested on fixed base robots, there are some issues with the velocity limits (added in the constraints of the stack.yaml file). In this case, the solver seems to not to converge, while removing them seems to improve the convergence. Moreover, it is needed to fix the lambda values, that are not consistent with the kinematic version of the solver and to add the lambda_1 and lambda_2 variables.