Make tf/6d pose consistent #131
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This PR fixes the inconsistencies of 6D spatial vectors and tfs that were all around the library. Now everything is expressed either via a full
Isometry3dtransformation or the logMap of it (a6D vector).@jbmouret @Aneoshun can you check that this is not affecting your code? It changed mainly the
body_pose_vec,create_box, andcreate_ellipsoidbehavior..