Update ICub wearable device with virtual link sensors and accelerometers

[yeshasvitirupachuri]

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To realize the idea of doing a validation of HDE with icub robot, we need to provide the same kind of data from the ICub wearable device, as that of Xsens Suit wearable device. As discussed with @diegoferigo and @lrapetti , we need to update the ICub device with new sensors. Currently, the ICub device has virtual joint sensors implemented https://github.com/robotology-playground/wearables/issues/32 and ft sensors implemented. The keys additions to ICub device can be summarized as:

• [x] Implementing virtual link sensors to provide link orientation and velocity. This can be achieved using idyntree model and setting the robot state with the joint quantities already available in the ICub device
• [ ] Implementing accelerometer sensors to link acceleration inputs similar to xsens suit device. This is not clearly understood at the moment and it has to be investigated a bit more.
• [x] Investigating how to use ft values from the sensors i.e. not wbd wrench estimates. Currently, the ft values are obtained by connecting to a port passed through the configuration file for the ftsensors. We use the WBD ports at the moment to get the wrench estimates at the of the robot. Instead, to be similar to the human case, we need to use the ft values from the sensors at the feet of the robot and for this the correct ports are opened on the robot through wrappers.

Once the above updates are added to the ICub wearable device, it will stream wearable data that is similar to the Xsens suit wearable device. So, in principle, we will be able to test HDE with ICub wearable device directly to do a validation of the joint torque estimates.

CC @lrapetti @diegoferigo @claudia-lat @DanielePucci @traversaro