Bimanual Support #1
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* Change hardware, buffers, etc to vectors * Change mutex to deque (vector doesn't work on mutex) * Rename low dim thread to robot thread and separate wrench into a separate thread Test: passed compiling
* Seperate wrench from robot thread so it can run at a different frequency * Make each thread optional from config * Fixed plotting thread freeze by restricting plotting to one thread and combining all images into one * Fixed default parameter in pybind * Varies bug fixes for mock hardware mode * Added python test script for bimanual * Varies bug fixes for jerky motion * Added profiling and lots of printout about timing Test: tested in experiments
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Tested in experiments.