updates to moveit config

[PeterMitrano]

Moveit setup assistant made most of these changes, a lot of which are whitespace. The things to really look at are:

• The .srdf, which unfortunately is a huge long file, but this file is really important and bugs here are super painful.
• the controller yaml files and moveit controller manager files. It's just good to know how these things are setup
• joint limits file. These don't actually effect the real robot afaik, but getting them right is important for moveit + gazebo to behave like the real robot

[PeterMitrano]

I've tested in gazebo and basic_motion.py does all the things. Rviz also still works. I tested rivz planning & execution with fake victor and that also works.

should we test things on the real robot?

[PeterMitrano]

No that seems correct.