Extend the friction parameters to support viscous and coulomb frictions

[sgiraz]

What's new in this PR:

• eomcParser is now able to parse and manage the new friction parameters: viscousPos, viscousNeg, coulombPos, and coulombNeg respectively.
• In embObjMotionControl.cpp, the user2raw functions for the new parameters do not alter the values parsed from the xml configuration file (this behavior can be easily changed).
• Minor clean up (some trailing spaces have been removed)
• add .vscode folder to .gitignore

Note:

• CanBusMotionControl.cpp hasn't been updated to support the new friction parameters. if is necessary, we can do it.
• The integration has been tested on a custom single joint setup (mc4plus + DC motor + aea2).

[pattacini]

Hi @sgiraz
As a general remark, I've seen many modifications that are purely related to formatting. Could you please clean them up?

[pattacini]

Hi @sgiraz

We need to address also the compatibility with the required versions of yarp and icub-firmware-shared:

• https://github.com/robotology/icub-main/blob/devel/CMakeLists.txt#L18
• https://github.com/robotology/icub-main/blob/devel/conf/iCubFindDependencies.cmake#L73-L78

[sgiraz]

Hi @sgiraz

We need to address also the compatibility with the required versions of yarp and icub-firmware-shared:

• https://github.com/robotology/icub-main/blob/devel/CMakeLists.txt#L18
• https://github.com/robotology/icub-main/blob/devel/conf/iCubFindDependencies.cmake#L73-L78

We should probably check with @randaz81, because they could be updated during the official release

[pattacini]

We should probably check with @randaz81, because they could be updated during the official release

icub-firmware-shared has been already updated so we can proceed. For YARP, we need to stick to the proper master release, the same.

[traversaro]

We should probably check with @randaz81, because they could be updated during the official release

icub-firmware-shared has been already updated so we can proceed. For YARP, we need to stick to the proper master release, the same.

Probably we need to keep @Nicogene in the loop as well given the upcoming distro release.

[pattacini]

Probably we need to keep @Nicogene in the loop as well given the upcoming distro release.

Good point although we're not forced to include this dev into 2022.02.0. Therefore, any idea on the versioning to avoid conflicts and minimize the friction with the upcoming distro is more than welcome.

[Nicogene]

If these changes require YARP 3.6.0 is fine to include them in the upcoming release, otherwise it would be tricky re-build the YARP packages in time

[pattacini]

CI started over after the merge of the following linked PR's:

• Add implementation for friction parameters yarp#2805
• Add eOmc_FrictionParams_t to EoMotionControl  icub-firmware-shared#57