fixed controller naming
updated to latest URDF changes
updated groups
updated raw3-1 config
added ik10 ikfast plugin
fixed linker problems
IK solver based on GT code
rviz demo with debug flag
switched to IKfast
updated SRDF
added bound checking to harmonization
tweaked harmonization
updated srdf
updated srdf after upper/lower arm fixup
updated srdf
moveit config for cob3-3 updated
moveit config for cob3-6 updated
added rviz config
Merge branch 'moveit' of git://github.com/ipa-mdl/cob_manipulation into groovy_dev