updated gripper-hw to v1.2.0

	modified:   wsg_50_hw/README.md
    modified:   CHANGELOG.rst

added python gripper handles and interfaces for proposed paper content and experiments

	modified:   wsg_50_hw/src/wsg_50_hw/__init__.py
	new file:   wsg_50_hw/src/wsg_50_hw/constants.py
	new file:   wsg_50_hw/src/wsg_50_hw/dsa_conversions.py
	new file:   wsg_50_hw/src/wsg_50_hw/grasping_controllers.py
	new file:   wsg_50_hw/src/wsg_50_hw/gripper_command_handle.py
	new file:   wsg_50_hw/src/wsg_50_hw/gripper_state_handle.py
	new file:   wsg_50_hw/src/wsg_50_hw/plotting.py
	new file:   wsg_50_hw/src/wsg_50_hw/utils/__init__.py
	new file:   wsg_50_hw/src/wsg_50_hw/utils/conversions.py
	new file:   wsg_50_hw/src/wsg_50_hw/utils/misc.py
	new file:   wsg_50_hw/src/wsg_50_hw/utils/transformations.py

added basic docu

	new file:   wsg_50_hw/Makefile
	modified:   wsg_50_hw/doc/conf.py
	modified:   wsg_50_hw/doc/wsg_50_hw.rst

adjusted plotting utilites and available ROS-nodes

	new file:   wsg_50_hw/scripts/dsa_error_streamer
	new file:   wsg_50_hw/scripts/plot_dsa
	new file:   wsg_50_hw/scripts/plot_dsa_in_tcp
	new file:   wsg_50_hw/scripts/run_alignment_controller

added launch files and configs for simple setup

	new file:   wsg_50_hw/config/alignment_control.yaml
    new file:   wsg_50_hw/launch/dsa_alignment.launch

added example and updated lua-driver scripts

    new file:   wsg_50_hw/data/DSA_Plotter.ipynb
	modified:   wsg_50_hw/data/lua_scripts/cmd_measure_dsa.lua

driver updates / bug-fixes

	modified:   wsg_50_hw/src/wsg_50_api.cpp
	modified:   wsg_50_hw/src/wsg_50_node.cpp
	modified:   wsg_50_hw/src/wsg_50_ros.cpp

added strategy selection message to ```wsg_50_msgs```

	modified:   wsg_50_msgs/CMakeLists.txt
	new file:   wsg_50_msgs/msg/StrategySelect.msg

Minor updates in URDFs for simple DSA models:

	modified:   wsg_50_description/model/wsg_50.components.xacro
	modified:   wsg_50_description/model/wsg_50.gazebo.xacro
	modified:   wsg_50_description/model/wsg_50.transmission.xacro
	modified:   wsg_50_description/model/wsg_50.urdf.xacro
    new file:   wsg_50_hw/robot/wsg_50.urdf

general repo updates

	modified:   .gitignore
	modified:   .gitlab-ci.yml
	modified:   CONTRIBUTING.md
	modified:   LICENSE
	modified:   README.md