whether you want to close the hand based on torques
(useTorquesForGrasping=1) or based on joint angles
(useTorquesForGrasping=0).

as joint velocities... (because setting torques directly to the
joints does not work in Bullet so far). Joints move, but motion will not
stop (no self collision detection).

Extended DifferentialIK with optional weights for joint angles and tcp DOFs (the letter not tested yet)
Extended DifferentialIK with considering joint limits

Improved TCPControlUnit

MaxJointVelocity property is now considered