Include in pyro (from old alexrobotics code) hybrid robot class

[alx87grd]

Include the following class:

• Hybrid manipulator mother class
• Hybrid one-link manipulator
• Set-up a value-iteration class for two-state two-input systems
• Hybrid two-link manipulator
• Hybrid three-link manipulator
• R-min computed torque controller for hybrid robots
• Rollout computed torque controller for hybrid robots