Use the same joint axis to activate different sets of actuators

[RiccardoGrieco]

As per title, this issue is to allow the WeightRetargetingModule to use the same joint axis in order to activate different sets of actuators. This might come in handy if we need to retarget also opposing forces. An example is when during the teleoperation, the operator relaxes the arms and the robot touches something (e.g. a table) which is not in the operator's view.

[RiccardoGrieco]

Implementing the changes in the branch feature-same_axis_different_actuators

[RiccardoGrieco]

In 9725a33 I changed the mapping of the information from joint_axis -> infos to actuator_group_name -> group_info. In this way I could easily manage the data related to each group, i.e thresholds, list of actuators, joint axis.

Since thresholds are now associated with groups and not to joints , the RPCs must be updated. using the group name as index. At the moment, the exisisting RPCs have been disabled.

TODOs:

• [x] Update RPCs -> 5fa7288a9ae60020a119745fc0a8274aadadac7a
• [x] Update docs -> d478407d72ffdc3f83108c411635637f7c341cae
• [x] Actuate both "biceps" and "triceps" -> 30c232da969123b56e64e29f1a7e421af01ae81c

[RiccardoGrieco]

In 30c232da969123b56e64e29f1a7e421af01ae81c I documented how to use manage negative torques, and in general how to use torques in the negative direction.

The existing config files have been updated accordingly, adding the opposite groups of actuators when the torque is negative. The values in this config files still have to be tuned with the values from the real robot.

This allows us to properly use the same joint axis with different groups of actuators.

[RiccardoGrieco]

Opened PR #18.

[RiccardoGrieco]

PR #18 was merged. This issue can be closed.