Added rudimentary path
Lifted model leg higher off the ground.  Normalized PID gains in config file.  Corrected link lengths in config file.
Fixed range of motion of Protoleg model.  The orientation of the actuator relative to the axis is weird for this one
Removed unused dependencies.
Commented calls to logger code until it is unbroken
Commented out unused modules.
Removed deprecated folder
Changed default arguments to simulator
Wrote a test script to instantiate a protoleg model