Added joint limits in baxter_kinematics IK#2

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akihikoy wants to merge 2 commits intoRethinkRobotics:masterfrom

Commits on Jan 6, 2016

Modified the baxter_kinematics class to take into account the joint limits in inverse_kinematics.
akihikoy
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Commits on Feb 16, 2016

Modified the baxter_kinematics class:
akihikoy
committed