Workarounds, limitations/missing features in ergocub 1.0 urdf

[Nicogene]

Warning

The urdf of ergoCubGazeboV1/SN000 has never been generated with creo2urdf, it has been created in the transition period when for using simmechanics_to_urdf was needed to port the CAD from CREO9 to CREO7 thus we minimized the fixes on the CAD, patching it via software(#106)

The simulation model CAD has not been updated for a while, we are keeping the yaml up-to-date but if changes are needed in the robot model it is better to apply them directly to the urdf instead of generating with creo2urdf.

This issue is for keeping track of the workaround we had to implement + the features we didn't integrate in ergocub 1.0 models, which hopefully we will remove/implement better in the future.

SW Workarounds

• Fix torso_pitch to 10 deg #103 (The torso_pitch burnt)
• Add waist_imu in urdf file #99 (The pipeline creo v7 is broken, and we didn't regenerate the shrinkwraps)
• Update torso_joints number in all-mc_remapper.xml after removing torso_pitch #116 (removed torso_pitch pt2)
• Remove torso_pitch from wholebodydynamics configuration files #112 (removed torso_pitch pt3)
• Fix lidar reference frame #134 (Wrong laser csys, creo v7-9 issue)
• ergoCubGazeboV1: make ft frame centered on z w/ the link frame #158 (Ft sensor frames not centered)
• ergoCub1_0: fix mass and inertia of the head #249 (The head mass properties were wrong)
• Check and eventually fix ergoCub lower leg frames orientation #74 (Fixed only in V1_1 model)
• Meshes of the fingers include parts of the lever in the simulated model #82 (fixed the STL by hand)

Limitations

• Mismatch between ergoCub 1_0 and 1_1 IMU sensor parent Links #234
• Add Gazebo Sim support #230 (Only V1_1 has been ported)

cc @pattacini @traversaro