This pull request gives the user the ability to lock certain joints. It also renames the block_gripper parameter to lock_gripper and improves the retrieval of the controlled joints.
[!WARNING]\
BREAKING CHANGE: block_gripper now is named lock_gripper
This pull request gives the user the ability to lock certain joints. It also renames the
block_gripperparameter tolock_gripperand improves the retrieval of the controlled joints.