Added new elbows to coman. Needs to be able to select betweenn old and new forearms using script wtf
See previous commit
Added forearm with fixed joint. Next step is to make that joint rotative.
Added revolute YAW joint to move the forearm. Joint limits are +/- 90 deg (check if it is true). Tried in RVIZ.
Added folders in config for different version of coman
Added dynamic in joint forearm. With actual inertial parameter the model explodes if damping is more than the one set
Deleted old conf files (moved in coman_no_forearm)
Added contact model for forearms (as soon as we do not have the hand). It is the same used for the feet.
Updated pids and sdf.
Changed some PIDS
Fixed bug for l_ankle/r_ankle
First commit to include full forearm and a cube representing the hand.
Added files for simulation
Added gaze joint and repositioned torso at same height of shoulder
Changed name in coman gazebo wtf for force torque
Merge branch 'forearms'