Investigate PID tuning for joints of the human model

[yeshasvitirupachuri]

Currently, the urdf models present in this repository are used primarily in Rviz for visualization. The possibility to use the human urdf model for dynamic simulations is limited for the time being as the low level gain tuning for the joint motor control was quite complex to achieve with in the infrastructure of yarp. Thanks to @Giulero who pointed out Matlab Simscape Multibody ability to import urdf files. It is a very straight forward process and the urdf model is imported to a simulink model as shown below:

With the human model imported to simulink, it is easier to analyze the dynamics and find the proper PID values for the low level control for all the joints in the model.

@diegoferigo @lrapetti @claudia-lat @traversaro @DanielePucci

[lrapetti]

This might be useful also to @claudia-lat for hand retargeting visualization in Matlab