Add couplingICubHandMk2 device coupling handler

[Nicogene]

This PR adds the couplingICubHandMk2 device driver, that implement the IJointCoupling interface:

• IJointCoupling: an interface for handling coupled joints yarp#3026

[Nicogene]

This work bring to light a thing to be understand/discussed related to devices that are outside the YARP repository but want to exploit the param parser generation feature.
In:

• Add rawValuesPublisherInterface and related nws and nwc to stream and save raw values #983
• couplingXCubHandMk5: handle the param parsing with the YARP param parser generator icub-tech-iit/ergocub-software#231

We added inside the relative devices' CMakeLists:

  option(ALLOW_DEVICE_PARAM_PARSER_GENERATION "Generate the param parser for foo device" OFF)

this option is forwarded in order to enable the parser generation.

@randaz81 is it the correct way the external repositories for exploiting this new feature?
Maybe we need to add this option in the root CMakeLists?

cc @traversaro @martinaxgloria

[traversaro]

I guess that we can simply leave the option not set, as we do for the similar ALLOW_IDL_GENERATION option? As anyhow the option is set to OFF in https://github.com/robotology/yarp/blob/77d31ce3413fa3c8b4feeb9b6fe92694530c449a/cmake/YarpDeviceParamsParserGenerator.cmake#L9, I guess we need to define it before only if we want a different default value (for example ON).

Copilot reviewed 3 out of 8 changed files in this pull request and generated 18 suggestions.

Files not reviewed (5)

• src/libraries/icubmod/CMakeLists.txt: Language not supported
• src/libraries/icubmod/couplingICubHandMk2/CMakeLists.txt: Language not supported
• src/libraries/icubmod/couplingICubHandMk2/CouplingICubHandMk2.cpp: Language not supported
• src/libraries/icubmod/couplingICubHandMk2/CouplingICubHandMk2.h: Language not supported
• src/libraries/icubmod/couplingICubHandMk2/CouplingICubHandMk2_ParamsParser.h: Language not supported

[Nicogene]

In:

• b371828 (#995)

I managed to merge all the coupling handlers (we used to have one separated per finger) into one.

couplingICubHandMk2 is handling 20 physical joints and 9 actuated axes.
I don't know who could review it (maybe @traversaro @PasMarra @xEnVrE ?) in any case I need to give a try, in this way instead of having 10 inis (2x5 inis) for the hands we just need one ini per hand like this one:

disableImplicitNetworkWrapper
yarpDeviceName left_hand_hardware_device

jointNames l_hand_thumb_0_joint l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint l_hand_index_0_joint l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint l_hand_middle_0_joint l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint l_hand_ring_0_joint l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_0_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint

min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0
max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
min_damping   0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0    0.0
max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0  100.0

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[COUPLING]
device                   couplingICubHandMk2
actuatedAxesNames        l_hand_finger l_thumb_oppose l_thumb_proximal l_thumb_distal l_index_proximal l_index_distal l_middle_proximal l_middle_distal l_pinky
actuatedAxesPosMin       0.0  0.0  0.0  0.0   0.0  0.0   0.0  0.0   0.0
actuatedAxesPosMax       60.0 90.0 90.0 180.0 90.0 180.0 90.0 180.0 270.0

[POSITION_CONTROL]
controlUnits  metric_units
controlLaw    joint_pid_gazebo_v1
kp            0.1   0.1   0.1   0.1  0.1   0.1   0.1   0.1  0.1   0.1   0.1   0.1  0.1   0.1   0.1   0.1  0.1   0.1   0.1   0.1
kd            0.01  0.01  0.01  0.01 0.01  0.01  0.01  0.01 0.01  0.01  0.01  0.01 0.01  0.01  0.01  0.01 0.01  0.01  0.01  0.01
ki            0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0
maxInt        9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999
maxOutput     9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999
shift         0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0
ko            0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0
stictionUp    0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0
stictionDwn   0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0

[VELOCITY_CONTROL]
velocityControlImplementationType integrator_and_position_pid
controlUnits  metric_units
controlLaw    joint_pid_gazebo_v1
kp            8.726 8.726 8.726 5.235 8.726 8.726 8.726 5.235 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726
kd            0.035 0.035 0.035 0.002 0.035 0.035 0.035 0.002 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035
ki            0.002 0.002 0.002 0.0   0.002 0.002 0.002 0.0   0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002
maxInt        9999  9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
maxOutput     9999  9999  9999  9999  9999 9999  9999  9999  9999 9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
shift         0.0   0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
ko            0.0   0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
stictionUp    0.0   0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
stictionDwn   0.0   0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0  0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0

[IMPEDANCE_CONTROL]
controlUnits  metric_units
controlLaw    joint_pid_gazebo_v1
stiffness     0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0
damping       0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0 0.0   0.0   0.0   0.0

[LIMITS]
jntPosMax 0.0    0.0 20.0 20.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0
jntPosMin -20.0  0.0  0.0 0.0  0.0  0.0  0.0  0.0  0.  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  90.0 90.0
jntVelMax 100.0  100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0

[Nicogene]

This PR has been tested with:

• iCubGazeboV2_5_visuomanip: add support for gz-sim icub-models#249
• Add couplingICubEye device #997

@pattacini @traversaro it is ready to be reviewed/merged