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Publish estimated friction torques as motor accelerations on YARP #6765

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Run time

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Job	Run time
Find Trailing Whitespace	3s
[ubuntu-20.04@Release]	41m 7s
[windows-2019@Release]	15m 2s
[ubuntu-20.04@Debug]	48m 12s
[windows-2019@Debug]	10m 50s
	1h 55m 14s