Added world for iCub with fixed base (linked to root_link)
working fixed base icub
fixed name for the robot
Merge branch 'fixed_base' into master
Removed lines regarding OSX dylyb issue
Added damping to icub
Little tuning of PIDs
Merge branch 'master' into gazebo_yarp_plugins_v0.2.0

Conflicts:
	icub/conf/gazebo_icub_left_arm.ini
	icub/conf/gazebo_icub_left_leg.ini
	icub/conf/gazebo_icub_right_arm.ini
	icub/conf/gazebo_icub_right_leg.ini
	icub/conf/gazebo_icub_torso.ini