Use GripperInfo's chuckingDirection and gripperJointNames

[snozawa]

Summary

• Officially support chuckingDirection in gripperInfo to deprecate gripper settings in ManipulatorInfo. Now it's recommended to use GripperInfo for chuckingDirection and gripperJointNames.
• Manipulator has caches for chuckingDirection and gripperJointNames independent from those in ManipulatorInfo. Those in Manipulator are determined both by GripperInfo and ManipulatorInfo.
• Keep code in ManipulatorInfo for backward compatibility purpose.

Note for backward compatibility

• In the downstream repo, I already implemented migration. So, in many cases, we don't need the backward compatibility code and GripperInfo should have chuckingDirection/gripperJointNames.
• However, if we load the scenes saved by the old openrave on the latest openrave, it requires the code in ManipulatorInfo.
• In addition, some of the downstream code uses AddManipulator to define temporary manipulator, and it requires setting in ManipulatorInfo.
• Thus, this MR keeps the infomration in ManipulatorInfo. Instead, Manipulator class has its own caches. That way, if the openrave loads the cleanly-migrated scene (e.g. setting is only in GripperInfo) and saves it, it keeps clean (e.g. ManipulatorInfo does not have settings).
• Also, deprecate the unused API for Manipulator about chucking
  • Remove SetClosingDirection and SetChuckingDirection, since these seem unused.

[rdiankov]

@snozawa what are the mujin repos tied to this pull request? thanks

[cielavenir]

@rdiankov complete description is available at https://tiny.mujin.co.jp/fkge8

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By the way, it should be time to ask about the company policy to pasting link (cc @ntohge), though I used shlink. @kanbouchou asked me not to paste direct links inside intranet, but I have not checked that with the CTO yet.

[rdiankov]

repos and branch names would have been enough, no need for links. thanks

[rdiankov]

thanks~