Removed: Duplicated dependency on orocos_kdl.
Refactoring: Init of cds_wrapper also needs to get object-frame, attractor-frame and initial configuration to set these prior to initializing the dynamics of the CDS interpolator.
A new motion model for testing.
Alexis fixed the URDF of boxy by replacing left/right arm.
Added message conversions for JointState.
Refactoring cds-wrapper-tests.
Finished control.
Added: One Todo.