Merge pull request #64 from ipa-fmw/master

small fix for beautifying
Merge pull request #67 from ipa-fmw/master

add diagnostics to sound and rename launch files
fix torso joint names
added raw3-1 torso_controller configuration and launch files for gazebo simulation
Merge branch 'groovy_dev' of github.com:ipa-taj-dm/cob_robots into groovy_dev