Blocked behavior now freezes finger

Fingers used to open when blocked, which was intended to prevent crushing things. It because apparent that false blocked cases (caused perhaps by driving the finger outside of it's range) were more common than actual blockages, and freezing rather than opening was preferred.
Added the close functionality to reflex_smart
Cleaned up reflex_base.py
Added a setup.py file so outside python libraries can reference the python code here
Making the default touch threshold higher

Doing this so that people won't see spurious flickering contact unless they want it very fine
Fixed some small typos
Merge branch 'master' into deal_with_out_of_bounds