Bug-fix: Ensure that extraction of most severe collision is only performed if slot joint-collisions is bound in state.
Refactored: command-beasty uses sane default parameter for safety settings.
Refactored: Safety settings now use new internal class beasty-reflex.
Added initforms for joint-impedance-goal-parameters.
Added functionality to stop beasty-goal.
Added lock to avoid deadlock when cancelling beasty.
Added initial version of bridge to wsg50 gripper.
Setup of LISP package structure for WSG50:
Added empty CLOS representation of wsg50-interface.
Added and exported to open wsg50-gripper from CRAM.
Added and exported function to close WSG50 gripper from CRAM. Also added and exported error class to throw errors if they occur.
Added some doc-strings.
Added yet another doc-string.
Added and exported homing of WSG50 from CRAM.
Added subscription to status-topic publish by WSG50.
Added type declaration for WSG50 interface.
Added some further parameters for WSG50 gripper.
Clarified some doc-string.
Increased default speed of gripper.
Added possibility of setting maximum force and acceleration for opening and closing of gripper.