message: FIX: Don't stop finger joints on error recovery
diff: @@ -26,12 +26,12 @@ struct UserStop {
  };
  // Guards
  -auto isPressed = [](const UserStop& event) { return event.pressed; };
  -auto isReleased = [](const UserStop& event, const JointMap& joints) { return not event.pressed; };
  -auto isStarting = [](const SwitchControl& event, const JointMap& joints) {
  auto contains = [](const auto& haystack, const auto& needle) {
  return haystack.find(needle) != std::string::npos;
  };
  +auto isPressed = [](const UserStop& event) { return event.pressed; };
  +auto isReleased = [](const UserStop& event, const JointMap& joints) { return not event.pressed; };
  +auto isStarting = [](const SwitchControl& event, const JointMap& joints) {
  for (auto& joint : joints) {
  if (contains(joint.first, "_finger_joint")) {
  continue;
  @@ -57,6 +57,9 @@ auto stop = [](franka::RobotState& state, JointMap& joints) {
  state.ddq_d = {0};
  for (auto& joint : joints) {
  + if (contains(joint.first, "_finger_joint")) {
  + continue;
  + }
  joint.second->stop_position = joint.second->position;
  joint.second->desired_position = joint.second->position;
  joint.second->desired_velocity = 0;
  