[ergoCubSN00*/ergoCubGazeboV1*] Add alljoints-inertials to be aligned with real ergoCub

[martinaxgloria]

This is the twin of robotology/icub-models-generator#264. In this PR were added:

• the .ini files for the inertials for the IMU sensors mounted on the FT of the arms and the legs. The ones of the feet were already added in:
  • [ergoCubGazeboV1_*] Add feet IMU in the urdf model generation #217
  • ergoCubSN001/GazeboV1_1*: add ft imu via sensor #222)
• the alljoints-inertials_wrapper.xml and alljoints-inertials_remapper.xml to wrap up the inertials measurements (I didn't added them to the xml used by the yarprobotinterface by default);
• for ergoCub1.0 models (i.e. ergoCubGazeboV1, ergoCubGazeboV1_minContacts, ergoCubSN000): the arms and legs IMU as XMLBlobs in the .yaml and manually added to the urdf;
• ergoCub1.1 models (i.e. ergoCubGazeboV1_1, ergoCubGazeboV1_1_minContacts, ergoCubSN001): the arms and legs IMU as sensors in the .yaml, so the correspondent urdf can be regenerated.

For the time being, I would keep this PR in draft since I want to see if the pose I added as XMLBlobs are correct.

cc @Nicogene @pattacini @traversaro

[Nicogene]

Awaiting this:

• IMU sensors: alignment real ergoCub/iCub w/ simulated one robotology/robots-configuration#636

Before proceeding

[martinaxgloria]

Hi @Nicogene, I rebased this PR after solving the conflicts and now I put it ready for review.

[martinaxgloria]

Hi @Nicogene, thanks for generating the urdfs. I tried to launch the YRI with those models but I retrieved an error. In particular, there was a typo in a sensor name in alljoints-inertials_remapper. I fixed it here 50fe75c.

[traversaro]

Am I missing something or the added .xml files were not added in the yarprobotinterface .xml file?

[martinaxgloria]

Am I missing something or the added .xml files were not added in the yarprobotinterface .xml file?

I didn't add them since in the real robots they were not added to the yri launch file

[traversaro]

Am I missing something or the added .xml files were not added in the yarprobotinterface .xml file?

I didn't add them since in the real robots they were not added to the yri launch file

I am probably missing something, but then how are the users supposed to use them if they are not launched with the yarprobotinterface (in both the simulated and the real robot case)?

[traversaro]

Sorry, I just noticed that you wrote ths in the original description, I missed this.