Changes in joint ranges to match the real limits. Ported this commit from development as a patch, as we can't merge both branches at the moment (no time).
Trivial changes in controller
Merge remote-tracking branch 'origin/F_univ_bi_bimanual_system' into F_ethercat_muscle_hand
Added state message for the position muscle controller and command and state messages for the valve controller. Added the valve controller, although not in a working state yet