Add arrow keys and +/- support; update help text #1
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Teleop Crane+ V2.1 (Direct Joint Control):
Q/E: Select joint (1-4)
W/S or ↑/↓: + / - selected joint <- Add arrow keys in addition to W/S keys
R/F or +/-: + / - all joints (coarse) <- Add +/- keys in addition to R/F keys
O: Open gripper
C: Close gripper
X: Reset robot to vertical (all-zero) position
ESC: Quit