couplingXCubHandMk5: handle the param parsing with the YARP param parser generator

[Nicogene]

This PR introduces the usage of the new YARP param parsing generator, moreover using this new tool allows to align this device to the good practice of avoiding using the findGroup clause for parsing the lists, see:

• Important considerations about configuration files and the usage of yarp methods find() and findGroup() robotology/yarp#3092

Unfortunately some parameters are "shared" with the gazebo controlboards so using () for this device breaks the parsing of the gazebo controlboards, so I would put thi on hold until we do not make the change also on gyp side (cc @traversaro)

Moreover maybe it is better that YARP 3.10 has been released

[traversaro]

Moreover maybe it is better that YARP 3.10 has been released

Yes, that would be great. It would be problematic for people working on ergocub+gz-sim integration (@xela-95) if we could not release ergocub models until YARP 3.10 is released.

[Nicogene]

I have also ported all the ini in order to use the parenthesis, with this patch:

• gazebo_yarp_controlboard: Fix reading of actuatedAxesPosMax in COUPLING group that was broken in v4.11.0 robotology/gazebo-yarp-plugins#681

It works fine, @traversaro probably it would be convenient to have another gyp tag