Resolving Compatibility Issue between python2 and python3

[soonhyo]

Description
This Pull Request includes modifications to ensure compatibility with both Python2 and Python3.
This modification is required for launching baxter_default.launch of jsk_baxter_startup in the Noetic environment.

Modification Details

1. import statements import bezier and import minzerk have been changed to from . import bezier and from . import minzerk .
2. xrange has been replaced with range.
3. The map() function has been modified to use list(map()).

Testing
The changes have been tested successfully, demonstrating proper functionality with both Python2 and Python3.

@pazeshun

[k-okada]

thank you
c.f. RethinkRobotics#86