Remove trail and lead whitespaces

Remove trail and lead whitespaces

Remove trail and lead whitespaces

Remove trail and lead whitespaces

Remove trail and lead whitespaces

Remove trail and lead whitespaces
Add both_arms and both_arms_torso groups
Restructure joint groups

To avoid specifying joints more than once

Fix error in rebase

Restructure joint groups

To avoid specifying joints more than once
Fix for value iterator
Merge pull request #2 from v-lopez/new-groups

Add new joint groups