Fix: FingerGripperController Issues

[RyanTheRobothead]

• 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