Added modifications after RSS. Cc @omangin
Added modifications after RSS. Cc @omangin

ScazLab/human_robot_collaboration,ScazLab/baxter_collaboration,ScazLab/baxter_collaboration,ScazLab/baxter_collaboration,ScazLab/baxter_collaboration,ScazLab/human_robot_collaboration,ScazLab/human_robot_collaboration,ScazLab/human_robot_collaboration