[builder] Set ControlType to Position for PR2 robot

Reported by Omar Adair Islas Ramírez
[doc] Fix the ControlType for XYW Motion for PR2

Reported by Omar Adair Islas Ramírez
[testing] Relax precision on YARP tests

It always was less precise than socket one, but was not properly bumped
when the controller changes (to use proper physics)