update finger cmds and small cleanup #5
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Updated the finger command code to limit the actions it's sending, it seemed to be applying too much force in closed finger mode getting stuck a bit. The final finger behaviors match the one in sim, but currently the finger observations and the underlying mappings don't fully match. If this becomes a problem in RL learning, I'd suggest trying to match the poses in sim and add an extra unit mapping to operate in the action space of poses mapped to [-1,1].