Review joint limits passed to Cartesian controller

[PeterBowman]

These are current defaults as read by amor_get_joint_info and passed on to the solver device via yarp::os::Property:

(maxs (-65.001602 35.002976 150.00412 -40.001831 0.0 179.997253 0.0))
(mins (-155.002976 -130.003204 -150.00412 -178.003204 0.0 1.999542 0.0))

According to the user manual, those values are referred to the neutral position, which is not the starting (home) robot pose (BTW note how infinite rotation implies 0.0 at joints A4 and A6). We used to set them via .ini file until roboticslab-uc3m/kinematics-dynamics#145.

[PeterBowman]

BTW those 0.0 are the reason behind roboticslab-uc3m/kinematics-dynamics@4557220.

[PeterBowman]

Same bug affects the AmorControlboard device at yarp-devices.

• Option 1: apply correction at AmorCartesianControl (store neutral pose and substract angles), then replicate at AmorControlboard. Thus, we'll have duplicates (DRY rule?).
• Option 2: change those values in the AMOR API itself.

[PeterBowman]

Don't forget to check joint limits in simulation afterwards: roboticslab-uc3m/amor-openrave-models#1.

[PeterBowman]

Commit roboticslab-uc3m/yarp-devices@bd153db introduces a workaround for unbounded joints (A4 and A6), forcing a [-180º,180º] rotation range.