Revived Joint Limits Interfaces with new State and Command Interfaces#271

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Commits on Dec 16, 2020

updated joint_limits_interface with new State/Command Interface instead of Handles. Watch out for those command handles, no longer support copying so had to move those constructor command args to s…
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updated tests with state and command interfaces
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cpplint and uncrustify fixes
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Commits on Dec 18, 2020

Commits on Dec 19, 2020

Commits on Mar 13, 2021

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