Added a parameters saver
Only save if the joint is active
Saving and loading home param tables works!
insignificant
hubo-homeparams tested and working!
Put the source in
Tested home param settings -- confirmed!
Saved RAINBOW settings for beta-2
Going to attempt PWM control numerical test
Beginning compliance
Revert "Saved RAINBOW settings for beta-2"

This reverts commit 9a58eee8cf2b50056af621747332913d2141654f.
working compliance
Gain tuning framework set up
Gain tuning stuff stable
Turned things back to active in table
Printing out joint names instead of numbers
Updated joint table gains for stairclimbing
Starting transition from comp to rigid
In development
Ready for testing