Added a kinematic control demo using SoT, based on velocity control
Added calibration flag
Updated CMakeLists.txt
Changed port with encoderServer
Changed arm, changed pID
Incresed control loop time. Small code refactor
Added new yarpscope file (working with robot)
Changed some port names
fixed typo that cause the left and right wrists to be mixed while solving the IK problem
Fixed debug messages to be more informative
Added local copy of coman.urdf. Changed path location in PDgravity. CHanged CMakeLIsts
CHanged CMakelists
Modified CMakeLists.txt to use the env variable YARP_WORKSPACE
Fixed CMakeLists.txt to use new environment variable YARP_WORKSPACE
Using YARP_WORKSPACE env variable to get the model of coman
CHanged readme
Update README.md
Added external module qpOASES
Added find eigen3
Fixed CMakeLists