added IMU kinematics to toeFront and toeBack

commented out a few lines of code generation

added code to generate dynamics with eigen support

added export templates for eigen code that returns the variable directly instead of by reference

updated urdf with torso

Merge branch 'master' of https://github.com/UMich-BipedLab/Cassie_Model

added torso urdf files

Updated urdf files

git push origin masterMerge branch 'ayonga-master'

Fixed template files for Simulink on Linux.

Changed the export functions so can be used on Linux.

Merge branch 'master' of https://github.com/UMich-BipedLab/Cassie_Model

removed unused multisense joint in urdf

Update README.md

Update README.md