Pull request #2: PRCUN-2855 libfranka integrate accelerometers data stream

Merge in MOCTRL/libfranka-common from PRCUN-2855-libfranka-integrate-accelerometers-data-stream to master

* commit 'e5f5f1ba7210fe068ebdc456528893b8193e409d':
  refactor: combine x,y,z accelerometers into size 3 arrays fix: joint 7 does not have accelerometer, therefore reduce size to 6
  feat: added accelerometer data

Author: winkma

CHANGELOG.md

@@ -5,6 +5,7 @@
 * chore: Remove unused model library
 * fix: null pointer fix
 * feat: Added the async motion generator mode
+* feat: Added the accelerometer data
 
 # 1.0.0
 * Added support to transmit the arm URDF to libfranka

include/research_interface/robot/rbk_types.h

@@ -125,6 +125,8 @@ struct RobotState {
   floatarray<6> O_ddP_EE_c;
   floatarray<7> theta;
   floatarray<7> dtheta;
+  std::array<std::array<float, 3>, 6> accelerometer_top;
+  std::array<std::array<float, 3>, 6> accelerometer_bottom;
   MotionGeneratorMode motion_generator_mode;
   ControllerMode controller_mode;
   std::array<bool, 41> errors;