* Capsule components are attached instead of segments.
  * Capsule objects are added as outer objects for collision checking.
  * In the same time, segment components with the same parameters are
    added in the distance pairs.
  * This somewhat hackish solution is done to achieve collision-free
    path planning and compute continuous (and possibly negative)
    distances when analyzing the capsule body distance pairs.

  * Set hands local center and axes in wrist joint using hand to wrist
    transformation.
  * It is up to the user to place correctly the hands anchor joints in
    the robot URDF file.

  * Besides the gaze joint, gaze origin and direction need to be set.
  * Gaze joint local origin and orientation are used to fillthis
    information.
  * It is hence assumed that the gaze joint is correctly placed in the
    kinematic tree. This can be done by defining an anchor joint in
    the robot URDF file and give it the correct transformation.

 * Bodies are now of type CapsuleBody.
 * In SRDF parser, when geometry is of segment type, use special
   methods addInnerCapsule addOuterCapsule to define specific
   self-collision pairs.

  * Bodies are not explicitly created anymore.
  * When a solid component is added to a joint component, the body is
    created once with the body factory if it has not been created yet.
  * In SRDF parser, add inner and outer objects for bodies to compute
    distance computation analyses.

  * RCPDF file contains contact geometry for each robot link.
  * For now only box geometries are handled.
  * Box geometry gives the sole size in each foot.

 * For some reason during initialization of the robot in jrl-dynamics,
   the free-flyer joint is added several times in the actuated joints
   vector.
 * Bug and solution reported by Sebastien Dalibard in
   jrl_dynamics_urdf.

  * base_joint is not in the URDF file, its reference dof values
    cannot be parsed from the SRDF file.
  * We define a method that takes the current configuration with the
    reference values for the actuated joints, as well as the
    horizontal floor height, and returns the full configuration with
    the free-floating joint dofs correctly set.

  * From now on, the root joint will be named "base_joint".

  * The URDF file does not contain the free-flyer joint, it is added
    later by the parser. This means the "base_link" link does not have
    any parent, and this case must be treated separately.
  * The genericity of the parser is not affected.

  * Get joint name to dof value map from SRDF.
  * Use map to build a reference configuration vector.

  * Collision pairs are added only if:
    - they are not in the disabled pairs list.
    - they have not already been added.
  * Add display methods for collision pairs lists.

 * After a humanoid robot has been loaded with the URDF parser, the
   SRDF file can be parsed to retrieve useful semantic information
   such as collision pairs for motion planning.

 * In this case we assume the collision geometry to be a capsule.
 * Cylinder parameters are used to create capsule component.
 * For now the visual information is not used, the displayed mesh in
   KiteLab is that of the capsule (but the mesh is not taken into
   account in collision checking).
 * One could use in the future the mesh information to create
   component with a mesh for display and a capsule for collision
   checking.

  * The pose argument is the local link pose.
  * The origin of either visual or collision node can be used.