Lfd modifications #23
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added XENOMAI_ROOT_DIR to readme
Conflicts: config/wam_40.yaml
…to lfd_modifications Conflicts: launch/sim/orocos_component_params.launch launch/sim/wam7_sim.launch
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added some useful features: disable bhand_action_server if it's unnecessary using a launch file argument, tweaks to traj_rml make it possible to use DMP generated trajectories