Modified Python controllers for Rethink Baxter allowing for position or torque-based control

• Controllers modified to accomodate the ARC Lab Baxter's different joint limits.
• Simultaneous limb control was also implemented as the originals could only control one limb at a time.
• Finally, torque-based control was implemented with the Baxter robot
  • This allowed for the sending of specific joint-torques which was crucial in most of the ARC Lab experiments
  • Torque control allowed for less loss of fidelity compared to position based control
• Velocity based control was implemented but eventually scrapped due to the violent motions which would occur.