Updates to hand driver to support non standard open/close commands and mode setting.
Updates to hand driver to support non standard open/close commands and mode setting.

mitdrc/director,openhumanoids/director,patmarion/director,mitdrc/director,gizatt/director,RobotLocomotion/director,RussTedrake/director,mithrandir123/director,openhumanoids/director,mitdrc/director,patmarion/director,openhumanoids/director,edowson/director,edowson/director,RobotLocomotion/director,openhumanoids/director,empireryan/director,edowson/director,manuelli/director,manuelli/director,patmarion/director,rdeits/director,RussTedrake/director,rdeits/director,edowson/director,mitdrc/director,empireryan/director,empireryan/director,mithrandir123/director,mithrandir123/director,empireryan/director,mithrandir123/director,mithrandir123/director,empireryan/director,rdeits/director,RobotLocomotion/director,edowson/director,patmarion/director,RussTedrake/director,manuelli/director,gizatt/director,RussTedrake/director,RobotLocomotion/director,RussTedrake/director,openhumanoids/director,manuelli/director,gizatt/director,RobotLocomotion/director,patmarion/director,mitdrc/director,gizatt/director,manuelli/director,rdeits/director,rdeits/director,gizatt/director