parameter for xyz position
unnecessary orocos_component_params
robot description fixes
modularizing launch files: separate bringup launch file for wam arms
lua script and launch file for second arm
added oro prefix to xacro, fixing so that barrett_manager comes up under
a new name
urdf modified: barrett manager name set explicitly, rather than by
passing oro_prefix because arguments to xacro cannot be empty strings
fixed effort_sum issue; arm 2 now starts correctly
barrett manager not used; deleted from launch folder
wam arms now launch successfully with all controllers -- I think they
have the same issues with exposing duplicate topics as the old arms
though (since the scheme names may be the same)