CREO2URDF – Add feature to use a Yaml configuration file – Stint 2

[Nicogene]

This is the follow-up of #41.
Here are the remaining features to be covered (taken from here):

Tasks

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1. root
2. exportAllUseradded
3. filenameformat
4. filenameformatchangeext
5. forcelowercase
6. stringToRemoveFromMeshFileName
7. assignedCollisionGeometry
8. limits
9. Mirrored inertia parameters

[mfussi66]

I would also add to the list the "damping" and "friction" factors for each joint, as they are beneficial parameters for simulation, and are present in other robots. They can be added quite easily to iDynTree and then edded to the exporter.

[Nicogene]

Putting on hold since #45 has an higher priority

[Nicogene]

In:

• creo2urdf: add assignedCollisionGeometry parameter #47

I added the assignedCollisionGeometry parameter, here is the resulting minContacts urdf:

icub-tech-iit/ergocub-software@f7ce6c1

[Nicogene]

This 72e8efc (#47) adds exportAllUserAdded option, see a chunk of the resulting urdf:

<link name="SCSYS_R_THUMB_SKIN_TAXEL_4_USERADDED"/>
  <joint name="SCSYS_R_THUMB_SKIN_TAXEL_4_USERADDED_fixed_joint" type="fixed">
    <origin xyz="0.03300000000000006 -0.0011923206886612636 0.005929525942276415" rpy="-3.1415926535897927 2.220446049250313e-16 -3.1415926535883125"/>
    <parent link="r_hand_thumb_3"/>
    <child link="SCSYS_R_THUMB_SKIN_TAXEL_4_USERADDED"/>
  </joint>
  <link name="SCSYS_R_THUMB_SKIN_TAXEL_5_USERADDED"/>
  <joint name="SCSYS_R_THUMB_SKIN_TAXEL_5_USERADDED_fixed_joint" type="fixed">
    <origin xyz="0.03482136611863341 -0.0034840921633512434 0" rpy="-1.5707963267948961 -1.6653345369377348e-16 -2.659547656593256"/>
    <parent link="r_hand_thumb_3"/>
    <child link="SCSYS_R_THUMB_SKIN_TAXEL_5_USERADDED"/>
  </joint>
  <link name="SCSYS_R_THUMB_SKIN_TAXEL_6_USERADDED"/>
  <joint name="SCSYS_R_THUMB_SKIN_TAXEL_6_USERADDED_fixed_joint" type="fixed">
    <origin xyz="0.036769634404151964 -0.0018288017188734518 0.0032999999999999974" rpy="1.570796326794897 -2.220446049250313e-16 -2.399827721490722"/>
    <parent link="r_hand_thumb_3"/>
    <child link="SCSYS_R_THUMB_SKIN_TAXEL_6_USERADDED"/>
  </joint>
  <link name="SCSYS_R_THUMB_SKIN_TAXEL_7_USERADDED"/>
  <joint name="SCSYS_R_THUMB_SKIN_TAXEL_7_USERADDED_fixed_joint" type="fixed">
    <origin xyz="0.03825964091188099 -2.901846643789119e-4 0" rpy="-1.5705542046266139 -3.3847088311368976e-4 -2.191744386072823"/>
    <parent link="r_hand_thumb_3"/>
    <child link="SCSYS_R_THUMB_SKIN_TAXEL_7_USERADDED"/>
  </joint>
  <link name="SCSYS_R_THUMB_SKIN_TAXEL_8_USERADDED"/>
  <joint name="SCSYS_R_THUMB_SKIN_TAXEL_8_USERADDED_fixed_joint" type="fixed">
    <origin xyz="0.036769634404152 -0.0018288017188734518 -0.003300000000000025" rpy="-2.3592109405351698 0.6231239758157898 -2.6159603834403367"/>
    <parent link="r_hand_thumb_3"/>
    <child link="SCSYS_R_THUMB_SKIN_TAXEL_8_USERADDED"/>
  </joint>
  <link name="SCSYS_R_THUMB_SKIN_TAXEL_9_USERADDED"/>
  <joint name="SCSYS_R_THUMB_SKIN_TAXEL_9_USERADDED_fixed_joint" type="fixed">
    <origin xyz="0.03300000000000001 -0.0011923206886612636 -0.005929525942276359" rpy="-2.7645689049691455 0.25312544974719 -3.042753660865159"/>
    <parent link="r_hand_thumb_3"/>
    <child link="SCSYS_R_THUMB_SKIN_TAXEL_9_USERADDED"/>
  </joint>
  <link name="SCSYS_R_UPPERARM_USERADDED"/>
  <joint name="SCSYS_R_UPPERARM_USERADDED_fixed_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 -0 5.55111512312578e-17"/>
    <parent link="r_upper_arm"/>
    <child link="SCSYS_R_UPPERARM_USERADDED"/>
  </joint>

[Nicogene]

Chatting w/ @traversaro it came out that just one of filenameformatchangeext and filenameformat is sufficient, and the mirroredInertia parameter was a workaround for a bug in simmechanics link, since we don't use anymore simmechanics we should not need it.
In case we will implement it later on.