Migrate ergocub-finger-tuner to the usage of robometry

[Nicogene]

Task description

I would change the part of logging the data in order to use robometry instead of saving a plain csv file, this will require also some changes on matlab script side, but w/ robometry we can have a more robust structure of data.

Morevover if you agree I would remove both ergocub and finger for the name because it seems general enough to do system identification on any kind of joint.

Definition of Done

The ergocub-finger-tuner has been ported to robometry

cc @mfussi66 @SanLordKevin