- fix prosilica optical frame name so it's consistent with the robot
Updating pr2 projector simulation fov to 55 degrees <<Ticket(wg-ros-pkg,5037)>>
<<Ticket(wg-ros-pkg,4849)>> Setting distortion to 0 for simulation.
<<Ticket(wg-ros-pkg,5020)>> Fix base mass location to stop PR2 from tipping.
- Removed bumper and contact plugins to reduce threads when running simulation.
- fix left and right torso side plate links
- removing unnecessary collision and visual geometries for cameras.
- Removing the belt compensators, and reverting the safety gains.
- Updated safety controller gains for the shoulder. Now works with the belt compensator.
- Updating gains for the belt compensator transmission
- Removed belt compensator transmission from the upper arm roll joint