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use sole frame instead of last joint + transform

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

Created by: pFernbach

Main change : now use the leg_***_sole_fix_joint as the center of contact instead of leg_****_6_joint with a transform. This doesn't change anything in the scripts using this class.

Other change :

  • Increase the vertical size (toward the ground) of the trunk_large bounding box
  • Reduce the root z value of the references configuration to be in contact (without collisions) with a floor at z = 0

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