New demo using the new hand_commander

     Juan and I have migrated the old demo to using the new kuka_commander. I've now even made it so that it works for both BioTacs and PSTs. Obviously depending on the fine details of each Hand and other idiosyncrasies, some of the values will have to be adjusted on a per Hand basis, and that's something we'll deal with.

BUT, before we release this into the wild, it would be good if you or somebody in your team could have a look at the code to remove any bad coding practices that Juan and I may have employed.

     Ideally we'd need this sometime next week (and the sooner the better) so that we can finally be ready to pack and ship the Beijing Hand.

     Cheers, Armando