Nova trajectoria
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Provant!
Merge branch 'pfc_ricard' of https://github.com/joseparnau/rosjac into pfc_ricard

Conflicts:
	DEADJOE
	kview_prenodes/launch/LWR_dynamic_model_real_bmm.launch~
	lwr_dyn_model_trajectory_generator/src/DEADJOE
	lwr_dyn_model_trajectory_generator/src/lwr_dyn_model_trajectory_generator.cpp
Implementacio control per parells