Migrate the friction exploitation control in whole-body-controllers

[gabrielenava]

The issue is a remainder of the activity @nunoguedelha is carrying on. Given his recent results with the current control framework, it would be nice to have the whole-body friction exploitation controller among the available WBC controllers.

Time and type of controller (fixed base of floating base?) still have to be defined.The friction exploitation framework, currently is still in legacy. In order to move it in WBC, an interface that allows to set the current/motor torques from Simulink is required. Otherwise, if the controller just set the joint torques a modification of the low-level controller is necessary every time one has to work on the robot.

[nunoguedelha]

Regarding the friction exploitation VS compensation feature, I have a proposal that I mentioned to @DanielePucci some time ago. I am documenting it here.

[gabrielenava]

in the end we did not migrate the friction exploitation controller to WBC. I don't think it make sense to schedule such activity at the moment. For now, closing as not planned.