FSM tested#528
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VarunSatyadevShetty
merged commit 16cb7dd
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actuator_torque_constant_feature
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Tested the FSM script and added a comment noting that the FSM requires the loadcell.fz value to be positive.
Also fixed an issue from a previous update (454 no easy way to zero encoders and set their direction) where set_output_impedance and set_output_position were mistakenly commented out.