fixing legs planning groups

[nlyubova]

No description provided.

[mikaelarguedas]

Renaming looks good to me. Np for moving from a chain definition to a joint listing in each group.

I have trouble to understand the use of foot_virtual. Could you give more context about what it is used for and why ?
AFAIK Virtual joints are supposed to create virtual links to emulate environment information that is not published by the robot by default (e.g. odometry). But in this case foot_virtual_joint it is a fixed joint connected to the left foot plant l_sole that is a real link already attached to a joint and published by the robot. So why is a virtual joint needed in this case ?
Given that it is a fixed joint tied to the left foot, what happens if the right leg moves ? foot_virtual_joint will stay the same, is that correct ? Is that the wanted behavior?

[nlyubova]

Thank you,
foot_virtual was in the tutorial for the whole_body control. If you think that it is not needed then I remove it

[nlyubova]

Regarding list of joints, I need it like that to make the whole-body working. I'm working on it at the moment and it should be like that : one group of joints and one group as a chain

[mikaelarguedas]

Great, looks good to me,
+1 for squash and merge