CREO2URDF – MVP4 last tweaks

[Nicogene]

As last tweaks for reaching the MVP4 we would like to:

Tasks

Preview Give feedback

1. Add a file browser to allow the user to select the yaml and csv
2. Add damping and friction to the joints

[Nicogene]

In 89202a8 (#49) it has been added the possibility to open a dialog for selecting the yaml and csv from filesystem.

If cancel is pressed the plugin stops the execution.

[Nicogene]

xref:

• Add export to urdf of joint dynamics: damping and static friction coefficients robotology/idyntree#1094

[mfussi66]

xref:

Add export to urdf of joint dynamics: damping and static friction coefficients robotology/idyntree#1094

The related usage in creo2urdf is at the moment in my fork: mfussi66@292aa91

[mfussi66]

Now that the PR in iDynTree is merged, the changes can be brought to the plugin: 04c8971 (#49)

    <joint name="torso_pitch"
           type="revolute">
        <origin xyz="-7.30886630439206e-17 -4.930380657631324e-32 0.11800000000000001"
                rpy="3.9719461100401744e-15 2.710505431213761e-20 1.0587911275090697e-22" />
        <axis xyz="1.058791184074231e-22 1 4.336808689942018e-19" />
        <parent link="torso_1" />
        <child link="torso_2" />
        <limit lower="-0.3141592653589793"
               upper="0.7853981633974483"
               effort="1e+9"
               velocity="1e+9" />
+        <dynamics damping="2"
+                  friction="0" />
    </joint>