Track missing firmware for R1 torso yaw and tripod

[valegagge]

📝 Task definition

During the testing of yarp4, we pointed out that the R1 torso yaw and the tripod have a dedicated fw taht aren't in this repository.

Regarding the tripod, @ale-git already push it by this PR #689. Instead about the yaw joint fw, we stiil to check if it is under patent.

🏁 Dod

• Define where to store the R1 torso yaw fw. It depends if it is under patent ? (@ale-git )
• Might is worth to unify the all types of 2foc fw to avoid to have copies of common files (i.e. Protocl can files) ?

ccn @Nicogene @marcoaccame