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Bug fixes for augmented arm model!

Robert Katzschmann requested to merge github/fork/Yasu31/master into master

Created by: Yasu31

  • macro_definitions.urdf.xacro and AugmentedRigidArm.cpp was not properly formed, did not behave the way a PCC augmented model should
  • ball joint at top and bottom are actually not the same. phi element should come near root for top ball joint, theta element should come near root for bottom ball joint.
  • the arm was not pointed towards +z as it should have been (it was pointed other way around, since that was just more natural looking in rviz while making it)
  • the augmented configuration's xi, Jm and dJm was not calculated properly in some places

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