- XML option for wrist transmission to add offset to flex and roll joints
- Port away from the eigen stack
Fix in spawner when loading an entire yaml file. Thanks to asomerville for the fix. <<Ticket(wg-ros-pkg 5145)>>
- Remove deprecated urdf include
- disable setting commanded effort for virtual slider joint as it breaks sim by applying double force and does not affect hardware
- Added option to all halting for motors when a force/torque error is detected.
- Added interface for force/torque sensor.
- update to new rosparam api