Fix gravity task

[davidegorbani]

With this PR I fixed the bug in the gravity task; basically, the gravity task implemented in blf requires the direction vector to be in body-frame while the one that was set was in world-frame. Moreover, I fixed the t-pose calibration of the feet; now, when the t-pose is performed, the setpoint of the floor contact task is recomputed starting from the t-pose position.

[davidegorbani]

The macos CI is failing, I compared the micromamba list of the failing CI with one of a successful CI and I noticed that qt6-main is missing in the failing CI; should I add it as a dependency in here @traversaro?

[traversaro]

The macos CI is failing, I compared the micromamba list of the failing CI with one of a successful CI and I noticed that qt6-main is missing in the failing CI; should I add it as a dependency in here @traversaro?

I actually think you just need to set the env variable QT_HOST_PATH to $CONDA_PREFIX just on macos, this is due to https://github.com/conda-forge/qt-main-feedstock/issues .

[davidegorbani]

Closing as the CI is fixed now; thank you @traversaro @Gianlucamilani!