started to work to torque control
Merge branch 'master' of https://github.com/EnricoMingo/gazebo_yarp_plugins

Conflicts:
	include/coman.h
merge and add joint velocity and joint torque control, to be tested and to be finish
Merge branch 'master' of https://github.com/EnricoMingo/gazebo_yarp_plugins

Conflicts:
	README.md