Add the gripper part and follower logic

[ZhuoyueLi]

1. add gripper part
2. add follower logic: add sub-thread, add new function in control-abstract
3. reconstruct Proxy: making initialize more reasonable, package msg not in string anymore
4. update tool for parsing messages
5. client demos for test
6. idle, zero-torque(human-control), pd-test control for test