made changes for managing TRANSCEIVER section of xml config files, and added/tested funtions to retrieve TRANS and PROT data from the ems boards
gravity compensator refactored, implemented interactionmode handling (was missing), fixed bugs about number of joint (legs#7, torso#4), temporarily  removed additional torque offset port
[ARE]: warning fixed
sheffield01, changed pwm for torso calib
sheffield01: changed maxpwm values for torso (randaz)
sheffield01 calibration
disabled raw data sheffield01
sheffield01 changed pwm for arms (randaz)
[iKin]: some streamlining
sheffield01: changed pwm values for arms and torso
Lisboa01 : deleted old repo
iCubLisboa01 : new repo for robotInterface
fixed fwupdate
changed torque pids for upper arms
sheffield calib
sheffield calib
sheffield fine calib
sheffield fine calib
sheffield camera guid
sheffield fixed maxint arms and torso