Adding baxter_moveit_config package describing Baxter from Rethink Robotics.
Eliminating remnants to make left_arm/right_arm move groups identical.
Updating left/right_arm groups allowing for the left/right_gripper to be the parent_link for the end_effector.
Merge pull request #5 from rethink-kmaroney/master

Looks good. Adding baxter_moveit_config.
Update README.md