iCubGenova04 - Activate all FT-IMU sensors on the legs and feet

[nunoguedelha]

This completes the activation of the IMU sensors embedded in the legs and feet FT sensor boards as a dependency of the walking on inclined plane implementations, typically https://github.com/dic-iit/element_walking-on-inclined-plane/issues/40.

PR changes

• update the names of IMUs on the left and right legs, matching the names used in the PR Add legs FT IMU frames - address review icub-models-generator#113. All the xml files configuring the devices of type embObjIMU, the remappers and wrappers already existed, only the names were updated.
• add the respective configuration files to the startup config icub_wbd_inertials.

CC @lia2790 @S-Dafarra @fiorisi @fjandrad @prashanthr05

[nunoguedelha]

I have restored the "integration branch" devel_iCubGenova04, coinciding now with the branch calib/joint-offsets-for-ft-calib on commit 1785b40 which has been used on the Green iCub (iCubGenova04) until now.
I've updated the PR accordingly. As a side note, tomorrow I will PR the branch calib/joint-offsets-for-ft-calib.

[traversaro]

cc @Nicogene this PR touches the configuration of the embObjIMU devices, so you could be interested to check it out due to your work in robotology/icub-main#592 .

[nunoguedelha]

CC @prashanthr05

[nunoguedelha]

Rebased.

[nunoguedelha]

ping @prashanthr05 @lia2790 @MiladShafiee

[S-Dafarra]

Thank you!

[prashanthr05]

I think we will have to make changes to the right leg inertials

    <!-- DEVICES FOR INERTIAL SENSORS ON MTB, EMS AND FT STRAIN BOARDS -->
    <devices file="hardware/inertials/right_leg-eb8-IMU.xml" />
    <devices file="hardware/inertials/right_leg-eb8-inertials.xml" />
    <devices file="hardware/inertials/right_leg-eb9-IMU.xml" />
    <devices file="hardware/inertials/right_leg-eb9-inertials.xml" />
    <devices file="hardware/inertials/right_leg-eb11-inertials.xml" />

    <!-- REMAPPERS FOR INERTIAL SENSORS ON MTB, EMS AND FT STRAIN BOARDS -->
    <devices file="wrappers/inertials/right_leg-inertials_remapper.xml" />

    <!-- WRAPPERS FOR INERTIAL SENSORS ON MTB, EMS AND FT STRAIN BOARDS -->
    <devices file="wrappers/inertials/right_leg-inertials_wrapper.xml" />

devices must be replaced by xi:include and file with href