Merge remote-tracking branch 'origin/groovy_dev' into merge_groovy-dev

Conflicts:
	CMakeLists.txt
	cob_bringup/robots/cob4-1.xml
	cob_controller_configuration_gazebo/controller/torso_controller_cob4.yaml
	cob_hardware_config/cob4-1/urdf/calibration_default.urdf.xacro
	cob_hardware_config/common/cob4.rviz
	cob_hardware_config/raw3-3/urdf/raw3-3.urdf.xacro
Merge branch 'hydro_dev' of github.com:abubeck/cob_robots into hydro_dev

Conflicts:
	cob_controller_configuration_gazebo/controller/torso_controller_cob4.yaml
	cob_hardware_config/cob4-1/urdf/calibration_default.urdf.xacro
	cob_hardware_config/raw3-3/urdf/raw3-3.urdf.xacro
changed fridas controller params
optimize frida controller parameter
Merge pull request #1 from ipa-fxm/prace_dev

optimize frida controller parameter
Merge branch 'prace_dev' of github.com:ipa-fxm/cob_robots into prace_changes
merge prace