ik: adding damping parameter
increasing gains
major updates to hardware launch
bball
changes for my local versions of the software: integral gains
Adding bumblebee mode with stronger gains
updating gains for bb
Adding pid tolerances for new pid controller
adding more realistic gains and higher-performance traj generation to sim
numerous configupdates, adding heartbeat mux
Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett
always tweaking
Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett into working

Conflicts:
	sim/orocos_component_params.launch
orocos settings