Working on a balancing controller
Added logic to handle coupled joint in motor identification module
Modified coupling matrices
Modified friction identification to not update parameters of non active joints
Added configuration files
Workin in progress for coupled joints of torso and shoulder
Merge remote-tracking branch 'origin/master' into coupledJointsIdentification

Conflicts:
	src/simulink/controllers/Rovereto2014/controller.mdl
Modified motorFrictionExcitation to use positions instead of pwm for free motion excitation
Added support to PWM in Gazebo simulator
Migration of the identification procedure from open to closed loop
Merge branch 'simulatorPWM' into coupledJointsIdentification
Updated identification configuration files. Added torso identification of iCubGenova02
Added configuration for shoulder identification
Fixed a bug in checking joint limits
Fix for right shoulder against stiction
Fix for shoulder coupling matrix
Configuration files and results for fricction identification of iCub02 right shoulder
Coupled joint identification and control: working in progress
Identification: bug fix in tque coupling matrix of shoulders
onf file for identification pitch right shoulder