Fiona/new end effector

[JuliusCosmoRomeo]

Before merging, test on Doerte (and on Fiona/Ember with a lower end effector) if the rotation still works. If not, try the following:

• [x] change the flipped bit for the end effector motor and encoder for the upper handle in the ember config
• [x] revert the changes in the panto.cpp and subtract the rightTotalElbow if the handle is mounted on the right arm from the pointingAngle