new kinematics/dynamics ini for the legs

[jmgarciah]

Taking into account the commit (f355beb), I have developed two new kinematics ini for the legs. These new ini files include the dynamic parameters.

leftLegKinematics
rightLegKinematics

These ini files can be imported to this repo if it is necessary.

[jmgarciah]

I have extended with the trunkKinematics ini file.

[jmgarciah]

I have tested the GCMP with the legs and the trunk.

I think that the GCMP for the trunk works. However, I have seen problems with some legs' joints. I don't now if the problem is related to the calculated mass distribution or the "torque mode" control implemented on the IPOS devices.

[jgvictores]

1. Let's keep track of changes at the PR ([In progress] Deleted unused .ini kinematic files and updated old files using kdl-from-csv.py script #21)
2. Let's leave dynamics for Review and Unify TEO dynamic model teo-main#16