Python library to detect hands

[ugocupcic]

Detect the hands connected to the system Easy access to the prefix, joint names

[guihomework]

Looks like an interesting feature.

Please keep in mind our lab is interested in detecting hands that are loaded without hand_id but with joint_prefix and running the code in a namespace. This is necessary to be able to stop and restart one hand in a separate loop. In our case, the rh/ comes from the namespace not from the hand_id.

This makes the detection a bit more complex but still is feasible. The distinction between hand_id and joint_prefix is crucial. In the last PR for the controller_tuner and change_controller GUIs, there where some uncertainties on what is the hand_id and what is the joint_prefix and was hopefully fixed. hand_id and joint_prefix could even be different. like right/ for handid and rh for the joint prefix

[ugocupcic]

@guihomework in a first approach we might not cover all cases and keep it simple to handle our new default configurations.

[guihomework]

@ugocupcic ok, before releasing, please tell me, I could perhaps test on our side.

[ugocupcic]

For the first iteration:

• get_joints (hard coded for now, parses urdf in the next step)
• get_calibration_path
• get_controller_tuning_path