Update WAM config file

[Vinay Sriram]

config file is obsolete, points to links that don't exist.

[Vinay Sriram]

This works:

<!-- TODO not tuned -->
    <controller name="opc">
        <type>task</type>
        <must_use_robot>wamBot</must_use_robot>
        <!-- How often to recompute the model wrt. servo ticks. Default = 1 -->
        <option_servo_to_model_rate>5</option_servo_to_model_rate>

        <task name="hand">
            <type>TaskOpPos</type>
            <parent_link>link7</parent_link>
            <pos_in_parent>0.0 0.0 0.10</pos_in_parent>
            <priority>0</priority>
            <task_dof>3</task_dof>
            <kp>200</kp>
            <kv>25</kv>
            <ka>0</ka>
            <force_max>100</force_max>
            <force_min>-100</force_min>
            <flag_compute_op_gravity>1</flag_compute_op_gravity>
            <flag_compute_op_cc_forces>0</flag_compute_op_cc_forces>
            <flag_compute_op_inertia>1</flag_compute_op_inertia>
        </task>

        <!-- This task removes some range space
             from the lower pri tasks
             Note: Task dofs should match the gc set's size -->
        <task name="JointAngleSetTask">
            <type>TaskGcSet</type>
            <priority>1</priority>
            <task_dof>1</task_dof>
            <kp>10</kp>
            <kv>4</kv>
            <ka>0</ka>
            <force_max>10</force_max>
            <force_min>-10</force_min>
            <gc_set_names>link4</gc_set_names>
            <gc_set_pos_des>0.0</gc_set_pos_des>
        </task>

        <!-- 0 task_dof means a gc task, ie full dofs -->
        <task name="GCTask">
            <type>TaskGc</type>
            <priority>2</priority>
            <task_dof>0</task_dof>
            <kp>100</kp>
            <kv>40</kv>
            <ka>0</ka>
            <force_max>300</force_max>
            <force_min>-300</force_min>
        </task>
    </controller>

[Samir Menon]

Fixed as of 85e18cfadb78b54abdf4b721cd7be48c2ff106f1