cosas al chop
Merge branch 'chop' of https://github.com/robocomp/robocomp-ursus into chop

Conflicts:
	components/inversekinematicsComp/src/specificworker.cpp
sdf
Merge branch 'chop' of https://github.com/robocomp/robocomp-ursus into chop

Conflicts:
	components/inversekinematicsComp/src/specificworker.cpp
Parece que el chopper va
sdf
cosas
dasd
por fin funciona joder!
dcod
sdfads
No sabemos muy bien qué hemos hecho...
The jacobian and the error function now calculated the translations in the last joint
Chopped modiffied, now get the increment in the end effector system referece and put this in the world
Commented goHome in specificworker and changed  the delay time from 500000 to 100000.
Add transform before grabPositionHandL with 3 rotation for testing inverse kinematics
Change computeErrorVector function addinf errors from target to grab in the last Joint frame
Now go home is activated to avoid singularity matrix
olvido de Agustin
Solve error in code
Add new calc of rotation errors for testing
Merge branch 'chop' of https://github.com/robocomp/robocomp-ursus into chop

Conflicts:
	components/inversekinematicsComp/src/cinematica_inversa.cpp
cosas
Merge branch 'chop'

Conflicts:
	etc/ursusMM.xml