Gripper alignment_estimation and control via DSA-sensor readouts (Gabler et.al, ICRA `22) - added python gripper handles and interfaces for proposed paper content and experiments - added basic sphinx-docu - added plotting utilites and available ROS-nodes for alignment control / estimation streaming - added example hw-configs, code-snippets, launch files and lua-driver files - minor driver updates / bug-fixes - added strategy selection message to ```wsg_50_msgs``` - minor updates in URDFs for simple DSA fingers