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update ROMs and script

Guilhem Saurel requested to merge github/fork/pFernbach/master into master

Created by: pFernbach

This PR should not change anything in existing RBPRM scripts, except the *_path scripts using "trunk_large" model (but I think I updated all of them).

Abstract shape :

  • slightly reduce the size of the legs ROM along z axis
  • greatly increase the size of the trunk hip along y axis for "large" model
  • Fix visual of "large" model to fit the collision model

Python class :

  • Add method to set constrained joints bounds during contact generation, and reset their original value after
  • Add class for talos with a fixed upper body

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