Request with huge modifications, please check before accepting!

• Add compatibility with Python 3

  • Add a more generic interface for URDF files (urdf_[...].py instead of panda_[...].py).
  • Begin the implementation of Pinocchio

  Drawbacks to the use of Python 3 :

  • ROS and Pinocchio should be compatible with Python3
  • PyKDL should be installed from source (please check Readme.md).

ROS_nodes/panda_capacity/launch/human_only.launch

+<?xml version="1.0"?>
+<launch>
+
+  <!--<param name="human_description" command="
+  $(find xacro)/xacro '/home/elandais/catkin_ws/src/human_control/description/wholebody/wholebody_aCol.urdf.xacro' robot_namespace:=human"/>-->
+
+  <!--<param name="human_description" command="
+  $(find xacro)/xacro '/home/elandais/catkin_ws/src/human_control/description/arm26/arm26_aCol.urdf.xacro' robot_namespace:=human"/>-->
+
+  <!-- <param name="human_description" command="
+  $(find xacro)/xacro '/home/elandais/catkin_ws/src/human_control/description/TwoArm_7ddOS4/TwoArm_7ddOS4_aCol.urdf.xacro' robot_namespace:=human"/>
+   -->
+
+  <!--<group ns="human">-->
+     <!-- URDF state publisher -->
+    
+    <node pkg="tf" type="static_transform_publisher" name="world_ns_connector" args="0 0 0.0 0 0 0 1 /world /ground 100" />
+
+    <!-- polytope calculating node -->
+    <node pkg="panda_capacity" name="human_force_polytope" type="urdf_force_polytope.py" args="joint_state_topic:='/two_arms_only_marks/joint_states'" output = "screen"/>
+    <!-- ellipsoid calculating node -->
+    <node pkg="panda_capacity" name="human_manipulability" type="urdf_manipulability.py" output="screen"/>
+  <!--</group>-->
+
+</launch>