Backend support for real Kinova control with ft and gripper

[KishanSawant]

Summary

Adds generated real-hardware control for the Kinova Gen3 through the robif2b backend, with optional Robotiq FT-sensor and 2F-85 gripper communication.

Changes

• Generate and build a robif2b CMake target.
• Configure the Kinova through MOTION_SPEC_KINOVA_IP.
• Reuses the existing automatically derived wrench_outputs to conditionally generate real FT-sensor support and wire measured hardware data into the model’s generated wrench objects.
• Use the model timestep as the Kinova control period.
• Reject non-finite commands and handle configure, update and shutdown failures.
• Log joint torque commands.

Robotiq devices

• The Kinova arm is always controlled.
• Select peripheral communication with MOTION_SPEC_COMMUNICATION_DEVICES env variable:
  arm, ft, gripper, ft,gripper, or all.
• Peripheral communication defaults to disabled (arm).
• Configure serial ports through env variables:
  • MOTION_SPEC_ROBOTIQ_FT_PORT
  • MOTION_SPEC_ROBOTIQ_GRIPPER_PORT
• Configure startup FT bias sampling through MOTION_SPEC_ROBOTIQ_FT_BIAS_SAMPLES (100 by default, 0 disables it).
• Generate FT code only when the model declares a measured FT wrench.
• Generate gripper support independently of wrench presence.
• Wire FT measurements to the automatically generated wrench IDs rather than a hardcoded wrench name.
• Cleanly stop device worker threads and configured hardware.

MOTION_SPEC_COMMUNICATION_DEVICES only selects devices supported by the
generated model. Selecting ft for a model without a declared FT wrench does not add FT support.

Model and introspection

• Keep the base Kinova URDF payload-free.
• Add a separate Kinova URDF containing the fixed FT frame and combined FT-sensor/2F-85 payload inertia.
• Add a dummy URDF root for KDL root-inertia compatibility.
• Support case and namespace differences in KDL link lookup.
• Derive commanded-torque log channels from the declared serial kinematic chain instead of assuming seven joints.
• Log post-saturation commanded joint torques.
• Correct elapsed-monitor introspection timing.
• Flush protobuf frame logs before backend teardown.
• Preserve runtime-TTL recovery coverage for generated runs.

[vamsikalagaturu]

all these changes with passing wrench_outputs as an arg to methods have to go. not a right implementation. for eg. its being passed to mujoco templates also even though not being used. and a very specific case for wrench. this should be coming from sensors.

[vamsikalagaturu]

why fsm specifics being passed??

[vamsikalagaturu]

commented above

[vamsikalagaturu]

too specific fix

[vamsikalagaturu]

MOTION_SPEC_COMMUNICATION_DEVICES this is not the way to specify or load urdf. this is the issuse with composability.

given we have scene graph now, we should generate kdl chain from the ktree. and use that. that will let us compose in graph. instead of this.

[vamsikalagaturu]

@minhnh dont need to review this. as the codebase itself is still in dev stage. i havent finished with it and need lot of refinements.

[vamsikalagaturu]

@KishanSawant you can keep this open and work on the real world experiments (u can make changes as u need). i have only had a brief look at PR. I can address all once i get back next week.

[vamsikalagaturu]

these has to come from a config file rather than env.

[vamsikalagaturu]

why this not in an if block