[THRIFT] Minor comment update.
[GRASPth] Finding the least ugly way to map each fingertip to the joints it contains. Making a leaner configuration file with only the needed parameters.
[MODULE] Calling correct functions for setvelocity.
Merging master into BufferiseSkinPort-#1.
[GRASPth] Fixing joint map creation, velocities setting procedures and skin port bufferisation (#1).