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Adding HyQ robot

Carlos Mastalli requested to merge hyq-robot into devel

This PR creates a function for loading the HyQ robot. The URDF model is defined inside hyq_description which is a submodule in this repo.

There are few task to be done yet:

  • Create a hyq-data repository and remove the submodule
  • Create a SRDF for HyQ
  • Modify the loadHyQ according to the new SRDF

@rbudhira could you help me to create the SRDF?

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