cannot set `useDirectBaseMeasurement` to true

[mebbaid]

Basically, if we toggle the following option

human-dynamics-estimation/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml

Line 44 in b5c6e44

<param name="useDirectBaseMeasurement">false</param>

the IK crashes with core dumped

[lrapetti]

That option was not used for a while and might have some bugs.

Are you sure that when you tested it the chosen floatingBaseFrame had a corresponding target among the WEARABLE_SENSOR_TARGETS? (If not, that might be causing the seg fault, this should be avoided by throwing an error)