ops file to test inverse kinematics controller
Added new parameter for ops script in urdf; added ops scripts for IK controller and wam7 tests.
added tf node to ik ops file
changed ik
fixed roslaunch file to provide correct parameters
sim edits -- works now
Merge pull request #2 from cpaxton/working

chris's changes
fixing bench collsion mesh
adding hand to wam7_sim.launch and adding better control gains
increasing speed limits
adding sim with moveit configuration
updating to use new rtt gazebo schema
switching decription tag to comment