Added command to set open loop flag
Working example with fingers
Added experimental hybrid control mode for fingers
Almost working hybrid control, high noise and disturbance due to joint motor
Finished open loop torque control

A few important caveats:
1) Torque limits are reset to zero when open-loop control is enabled. There is
currently no way to recover the original torque limits without reloading the
whole robot.
2) Torque limits on applied torque are not checked. While this may be addressed
in a future release, make sure that the input to the controller is reasonable!
Merge branch 'feature/openloop' into develop