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https://github.com/cram-code/cram_bridge/pull/17\r\n\r\nWhat I wanted differently:\r\n- usage examples of ```cram-pr2-controllers``` as a separate lisp package ```cram-pr2-controllers-examples``` inside of the ROS package ```cram_pr2_controllers```\r\n- have regular keywords for the joint-names, i.e. ```:l_shoulder_pan_joint``` instead of ```:|l_shoulder_pan_joint|``` (I remember mistakenly telling you to make this case-sensitive keywords)\r\n\r\n@jannikb Please merge this, and then switch ```cram-pr2-controllers``` from the original to the new implementation inside ```actionlib_lisp``` 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