Experimental mimic controller for visualization robot
Updated to latest hubo-ach compatibility, experimental visualization
Fixed issue with fingerless ref robot having different DOF #
Stripped out comment junk
Experimental updates reading from ach channel
Minor trajectory starting glitch fixed
Quick fix for custom gain setting
Fixed individual gain setting
First cut of viewer-tied updates
Working viewer-based visrobot
Merge branch 'feature/viscallback' into develop
Added command to set open loop flag
Working example with fingers
Added experimental hybrid control mode for fingers
Almost working hybrid control, high noise and disturbance due to joint motor
Finished open loop torque control

A few important caveats:
1) Torque limits are reset to zero when open-loop control is enabled. There is
currently no way to recover the original torque limits without reloading the
whole robot.
2) Torque limits on applied torque are not checked. While this may be addressed
in a future release, make sure that the input to the controller is reasonable!
Merge branch 'feature/openloop' into develop
Updated ach-read mode to show reference channel instead of command channel
Minor fixes to commands for trajectory controller
Cleanup for new hubo-ach