updated readme to include first draft of user manual and maintenance manual
added (2) initialization joint-positions to teach-and-play trajectories to initialize pose-driven trajectories; (2) compliance parameter; (3) directory for each data_stream by trajectory name; (4) pls_regress main-menu item (not tested); (5) graceful hand-tuning of teach-and-play trajectories; (6) error checking to remove crashing bugs in mainline (e.g. check that no hand is available and remove hand-related menu items)