use the admittance controller from the wbc
remove duplicate file
use 4 spaces for python
don't let goals succeed (the client will cancel)
launch grasp_precompute_action and don't launch navigation
add a new script for sending cartesian motion objectives
reject the motion objective if the frame_id of a goal was not set
check for rejected goals
disable signals so the wait can be interrupted
also warn about missing link_name
disable reference publishing