Refactored: Moved interface functions to member functions of objects shared between cram_beasty and its caller.
Extended description of beasty-robot with tool-configuration.
Added: Description of base configuration to beasty-robot.
Added: Conversions to messages for beasty-robot.
Bug-fix: Accessors instead of readers for slot-values of beasty-interface.
Bug-fix: No more increment of cmd-id --action-server does this for us.
Added: Beasty requires us to send valid Transforms for unnecessary parameters.
Added class to represent beasty parameters.
Added: Implementation of a gravity compensation command.
Refactored: Re-writing beasty interface to be more concise to the high-level.
Refactored: Replaced unnecessary defgeneric by defun.
Removed: Unnecessary file gravity-compensation.
Moved: gravity-control-parameters into new file to hold all controller parameters.
Exported symbols necessary for users of lib.
Added: doc-strings.