Human control

Package created with ospi2urdf which is itself based on the ospi package.

TODO:

• The knees from our model are a custom joint and needed to be fixed manually. It is not guaranteed that the model will be diplayed properly. I believe that for the knee maybe a http://wiki.ros.org/joint_trajectory_controller needs to be used, so as to represent the spline trajectory which the knee takes.

• For other joints perhaps simpler joint_state_controllers are sufficient (see http://wiki.ros.org/ros_control for details), which are not currently implemented on the OpenSimRT_ros interface.

• Migrate gait1992 osim model here and make sure that opensimrt_core looks here for the model instead.

• Read relevant parameters from model and update them in the visualization.

• change the fixed paths in launch file to relative ones