Modify Parameters and Pipeline for MK2

[Yunus-Selim]

Closes #68

[luca-byte]

I have yet to check the parameters.
I think that we need to further modify the xacro files, so that the arm file is loaded conditionally to the mk version. Moreover probably it would make sense to move the arm parameter to another file, separate from the main xacro parameter file, so that it can be loaded by the arm xacro, without causing errors using mk2 file with different arm parameters