Several modifications for simulation stability
increasing performance / stability in simulation
hw: beginning to add safe mode
Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett
make gravity comp run by default
rml sim config: removing i-gains and increasing limits
decreasing joint damping for simulation
adding xacro-based srdf support and increasing rml d gain in simulation
disabling verbose rml in simulation
decreased hw gains/speeds for ball ee
increasing nullspace damping
Merge branch 'master' of github.com:jhu-lcsr/lcsr_barrett
updating parameters for new jtns computation
more stable jtns gains
adding params for cart servo
launchfile for singularity rescuer
adding SR for hw and updating component params
fixing singularity_rescuer launch for ball
updating params for ball for hw testing
re-working cart servo