This closes the issue https://github.com/EnricoMingo/iit-coman-ros-pkg/issues/13
Currently three modes are available for generating the sdf: by calling the generation script without any arguments, the coman sdf with yarp plugins is loaded. This version uses FT torques that are defined at underactuated joints, added specifically to put a FT sensor. The ros version includes the ros plugins, and the FT sensor is defined at actuated joints, so the reading are not accurate. The ros_accurate_ft version of the sdf contains ros plugins, and the FT sensor is placed in the correct pose by using an underactuated joint. A bare sdf is not generated, but a coman.urdf is generated instead which does not contain sensors and plugins, and is to be used by external libraries needing a urdf description of the robot.