Added amigo_whole_body_controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10085 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Worked on whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10192 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
amigo_whole_body_controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10298 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
amigo_whole_controller results in one Jacobian, still something wrong with bookkeeping

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10312 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Bookkeeping fixed

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10314 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Added admittance controller to whole_body_controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10339 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Fixed bug in whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10385 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Modified whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10503 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Modified such that it works with two inputs

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10553 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Cleaned up some code

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10560 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Added action to whole_body_controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10567 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Tuned whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10599 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Added joint limit avoidance to whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10658 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Work on whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10676 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Modified whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10691 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Added posture control and modified joint limit avoidance whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10697 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Started modifying task interface amigo_whole_body_controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10782 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
amigo_whole_body_controller now receives action msg, feedback not yet implemented

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10836 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Fixed some bugs in whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10841 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Included pre-grasp in whole body controller

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_whole_body_controller@10842 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6