Consider constraining force based on leg configuration and needed torques instead of constant forces

[LouKordos]

Use force-to-torque transformation function to dynamically change the max allowed contact force. The Actuators have a (roughly) constant torque limit, but the force limit calculated by that torque limit changes based on configuration.

To se if it is worth looking into, plot theoretical force limit based on constant torque limit of each joint.

[LouKordos]

Since the foot should roughly stay stationary during contact phase (which is the duration where force limits are actually relevant), holding that calculated force limit constant during the prediction horizon might even be sufficient.