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Added joint limits in baxter_kinematics IK #2

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@akihikoy akihikoy commented Jan 6, 2016

Modified the baxter_kinematics class to take into account the joint limits in inverse_kinematics.

  Since we modified its IK to consider the joint limits,
  solving IK takes longer time around the boundary.
  In this time, maxiter and eps arguments are added to
  the inverse_kinematics function.
  The default values are: maxiter=500, eps=1.0e-6,
  which are different from the original default values
  (maxiter=100 and eps=1.0e-6).
  This increased maxiter makes IK more stable.
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