Fix: FingerGripperController Issues #23
Description
- Overhauling the end effector system on the robot to use different classes for each end effector.
- Do type checks for different actions to ensure that the right end effector is attached and fail if not.
- Instantiating end effector at startup, along with associated resources.
- using config to define which end effector is attached.
- Getting rid of as many try-excepts as possible