- sim: fixing bad initialization of max torques
- hw: Numerous updatest to hand control
- improved torqueswitch behavior and improved high-level bhand actions
- adding spread action nd updating bhand action defs
- breakaway logic comment
- hand: adding release action, improving robustness of grasp action, fixing trapezoidal mode in simulation
- merge
- hand: adding high-level grasp command and cmd status reporting
- adding a bunch of debug info for hand controller
- updating ops script test
- updating sim test parameters and adding extra urdf debug info
- adding software estop trigger
- removing plugin_depends which are unnecessary because typekits are loaded automatically, this was preventing this plugin from being loaded
- updating gui connections to home/idle/run the arm
- fixed typo and safety limit warning
- fixed orocosScript tag
- sim: zeroing force if the command stops
- oro_barrett_sim: Guaranteed initialization in case this gets called before the gazebo update.
- rtt_rosclock api changes
- Adding rosparam auto config
- Adding auto-configure capability
- adjusting breakaway torque simulation
- removing obvious comments
- simplifying oro_barrett interfaces
- Adding documentation
- Adding example with two WAMs in simulation
- Reducing repeated code
- slight reorg
- cleaning up test names
- Updating launchfiles and adding wam-hand xacro
- sim: bhand with torque-switch behavior
- oro_barrett_sim: Adding hand simulation
- decreasing step now that damping is working
- Adding barrett hand sim and refactoring sim/hw interface
- updating deps
- Updating device functions to accept ros::Time structures
- Disabling torque limit error mode in simulation
- Updating simulation dialtone
- Updating cmakelists, idle test
- Adding orocos barrett simulation for use with rtt_gazebo_deployer plugin
- Contributors: Christopher Paxton, Jonathan Bohren, Zihan Chen