Add waist_imu in urdf file

[martinaxgloria]

As per title. WIP

[mfussi66]

Thanks @martinaxgloria ! Could you add in the PR post a test in the simulator?

[Nicogene]

The changes made on the urdf have been done by hand or it is the result of the generation from simmechanics_to_urdf?

Checking the CI the generation of the urdf fails because XSENS_MTI_630_IMU_CSYS does not exist in the simmechanics xml, since we decided to not update for now the simulation model with the creo 9->7 procedure.

The only idea I have is to refer to the torso_1 csys and use

additionalTransformation -> https://github.com/robotology/icub-models-generator/blob/fd2d430a399119f2ded5a15f1c8ea4185b9aca6c/simmechanics/CMakeLists.txt#L279

for getting the correct orientation.

@traversaro is there a better way to add a frame that does not exist in the xml?

[martinaxgloria]

The changes made on the urdf have been done by hand or it is the result of the generation from simmechanics_to_urdf?

I did it by hand.

[traversaro]

@traversaro is there a better way to add a frame that does not exist in the xml?

In the past we just used XMLBlobs : https://github.com/robotology/icub-models-generator/blob/fd2d430a399119f2ded5a15f1c8ea4185b9aca6c/simmechanics/data/icub3/ICUB_3_all_options.yaml#L545 .

[martinaxgloria]

I added the sensorBlob for waist_imu here: https://github.com/icub-tech-iit/ergocub-software/pull/99/files#diff-d43fa5cafdc7096f7b13d331fdfa24223268f048fc00d8c05648fa95e7a3832b

@traversaro is this what you were referring to?

[martinaxgloria]

Here 47900b1 I added the XMLBlobs as suggested. Moreover, I restore the urdf file, so that it is not modified by hand anymore, and I update the mass and inertia properties in the .yaml file

@Nicogene

[Nicogene]

Now seems ok!

[Nicogene]

I squashed the commit in order to be easily reversible (see #106)