Postural task

The postural task has two peculiarities w.r.t. a generic Task. First, subtasks of a Postural task are not specified with the indices field, but only through the enabled_joints or disabled_joint fields. Second, the weight field can be expressed as a map between joint_name and weight value-

Example

MyPostural:
    type: Postural
    lambda: 0.01
    weight:
        joint1: 10
        joint2: 10
        # all missing joints will be given weight equal 1.0
    disabled_joints:
        - joint3
        - joint4