Removed the duplicate coman_plain robot description in favour of a xacro-based conditional description of the robot. The parts of the description that depend on either ROS or YARP can be deactivated by setting the GAZEBO_COMAN_USES_ROS and GAZEBO_COMAN_USES_YARP environment variables during compilation. They can be either 0 or 1. A small dirty python script has been added to circumvent the gzsdf bug preventing the gazebo force_torque sensors described in a urdf to show in the final sdf file.
The README.md file has been modified to list the added requirements to run the script (python-bs4). Lastly, the version of the model in manifest.xml has been bumped to 13.10.31 (date based version number).
Modified coman.sdf in the coman_gazebo folder
Fixed merge proxlem in coman.sdf