[SPIDAR][WIP] the latest version of real platform #607
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…for aerial_robot v1.3.x
… torque to calcualte hovering thrust
… torque for flight control
…e raise leg phase to avoid the disapper of torque support for baselink
… inside pitch joint of free leg, which succeeded to walk for the first time
…r the joint torque control for free leg; 2. add burst thrust force for stronger raise power.
…tion of robot model, and disable the QP sovler for robot model as default
…om dragon RobotModel
…ct acc z control term.
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What is this
This is the latest branch to run in the real platform.