Sam Creasey

(also included are a couple of commits which add support for additional pydrake IK constraints) --- This change is [](https://reviewable.io/reviews/robotlocomotion/director/488)

Need better documentation for torque values on LCM systems

1

Some systems which send/receive LCM messages (e.g. IiwaStatusSender, JacoStatusSender) have input/outputs for "torque" which have little to no documentation, and varying conventions based on the model of robot in use....