Added config file for ubr1
Added collision model for ubr1
Added experiment files for a few robots. (Wrote a new experiment file infrastructure instead of using launch file)
Added launch file for ubr1
Major changes to call_planner. Now uses very pretty experiment files. It's becoming much more generic.
Fixed CMakelists
Added RPY-Solver to pr2_kdl_robot_model. Now the planner should theoretically perform as well as the previous implementation.
Removed the collision checker calls from the orientation solver. Cleaned it up quite a bit.
Removed remnants of UBR1 from pr2 robot model because now it has its own robot model.
Added ubr1 to CMakeLists
 SNAP_TO_RPY amp is added by default now
Added ubr1 robot model