[Collisions] Allow to select unactive joints

[arntanguy]

This PR adds the ability to select unactive joints in a collision constraint. Without this we do not have the ability to disable all joints of a robot in a collision constraint, and more often than not it's more natural to specify which joints we want to disable.

This:

• Renames r1Joints/r2Joints to r1ActiveJoints/r2ActiveJoints and deprecates use of the former
• Introduces r1UnactiveJoints/r2UnactiveJoints
• If both activeJoints and unactiveJoints are present, activeJoints takes precedence:
  • r1ActiveJoints: [] and r2ActiveJoints: [] -> all joints active
  • r1ActiveJoints: [J1, J2] and r2ActiveJoints: anything -> J1 and J2 active
  • r1ActiveJoitns: [] and r2ActiveJoints: [J1, J2] -> J1 and J2 unactive

- type: collision
  r1: hrp4
  r2: human
  collisions:
    - body1: L_ELBOW_P_LINK
      body2: TorsoLink
      iDist: 0.03
      sDist: 0.001
      r2UnactiveJoints: &unactiveJoints
        [Root, base, Torso_0, Torso_1, Torso_2, Head_0, Head_1, Head_2, LArm_0, LArm_1, LArm_2, LElbow, LForearm, LWrist_0, LWrist_1, LHand, LHandThumbLink1, LHandThumbLink2, LHandThumbLink3, LHandIndexLink1, LHandIndexLink2, LHandIndexLink3, LHandMiddleLink1, LHandMiddleLink2, LHandMiddleLink3, LHandRingLink1, LHandRingLink2, LHandRingLink3, LHandBabyLink1, LHandBabyLink2, LHandBabyLink3, RArm_0, RArm_1, RArm_2, RElbow, RForearm, RWrist_0, RWrist_1, RHand, RHandThumbLink1, RHandThumbLink2, RHandThumbLink3, RHandIndexLink1, RHandIndexLink2, RHandIndexLink3, RHandMiddleLink1, RHandMiddleLink2, RHandMiddleLink3, RHandRingLink1, RHandRingLink2, RHandRingLink3, RHandBabyLink1, RHandBabyLink2, RHandBabyLink3, LLeg_0, LLeg_1, LLeg_2, LShin_0, LAnkle_0, LAnkle_1, RLeg_0, RLeg_1, RLeg_2, RShin_0, RAnkle_0, RAnkle_1]
    - body1: L_WRIST_Y_LINK
      body2: TorsoLink
      iDist: 0.03
      sDist: 0.001
      damping: 0
      r2UnactiveJoints: *unactiveJoints

Slightly annoying, with this way of describing it we do not have a direct way of disabling all joints short of listing them all in YAML.

[arntanguy]

Sorry I mistakenly thought r1ActiveJoints was the currently supported option.

I chose the following:

• Deprecate r1Joints/r2Joints in favor of the clearer r1ActiveJoints/r2ActiveJoints. There is a warning if r1Joints is used and contains an empty vector (breaking change as it has the opposite meaning as the current option)
• To specify inactive joints use r1InactiveJoints/r2InactiveJoints
• Display a warning if both active and inactive joints are specified.
• There was actually a mistake in the saving code: when r1JointsInactive == true we should save the inactive joints as the r1InactiveJoints vector and not save the boolean value ;)

I think this should cover all cases this time ;)