Merge branch 'devel' into plane

CMakeLists.txt

README.md

data/hyq_description/meshes/leg/lowerlegreduced.dae

data/hyq_description/srdf/hyq.srdf

data/hyq_description/urdf/hyq.urdf

data/roms/centers.txt

data/roms/centers.txt~

data/roms/comlArm.erom

data/roms/comlArm.obj

data/roms/comlArmSimplified.mtl

data/roms/comlArmSimplified.obj

data/roms/comlLeg.erom

data/roms/comlLeg.obj

data/roms/comlLegSimplified.mtl

data/roms/comlLegSimplified.obj

data/roms/comrArm.erom

data/roms/comrArm.obj

data/roms/comrArmSimplified.mtl

data/roms/comrArmSimplified.obj

data/roms/comrLeg.erom