removing old test
Updated wam experimentally verified

- updated for new interface changes to match simulation
- updated test launchfile
- now using butterworth velocity smoothing (butterworth code care of the
  open wam driver project over at cmu:
  https://personalrobotics.ri.cmu.edu/pr-ros-pkg/owd/html/)
adding torque scales to adjust motor constants
Merge branch 'master' of github.com:jhu-lcsr/orocos_barrett