Revert #328

[pattacini]

After an internal discussion during our board meeting, we decided to revert PR #328.

This is because the convention for the CSYS is limited to the alignment of their axes wrt a resting position of the robot, but doesn't include the directions of rotation. In practical terms, this means that the same joint angles guarantee a specular symmetry between the arms.

Reverting #328 is as simple as clicking a button, although we may need to carry out a careful review.

cc @Lawproto @Nicogene @fiorisi @traversaro

[Nicogene]

I opened a PR with just the commit reverted:

• Revert "Wrist section overhaul (#328)" #341

But it seems not sufficient, more refinement is needed.

[pattacini]

A gentle reminder for @Lawproto.
cc @Nicogene

[Lawproto]

@pattacini there you go:

• Adding wrist information lost with the latest revert #345

[pattacini]

Thanks!