Add export to urdf of joint dynamics: damping and static friction coefficients

[mfussi66]

This PR aims to expand the Joints objects (Fixed, Revolute, Prismatic, IJoint) to support dynamic parameters present in URDF models. These parameters are damping coefficient (N*s/m for prismatic and N*m*s/rad for revolute) and static friction coefficient (N for prismatic and N*m for revolute) . The parameters can be imported from a urdf file or exported into one.

cc @traversaro @Nicogene

[traversaro]

Thanks a lot for this work! I want to comment a bit in depth in the PR, but before of that, it seems that there are a few memory-related error catched by the valgrind tests:

2023-08-30T14:20:08.1447826Z Model loaded from /__w/idyntree/idyntree/src/tests/data/iCubGenova02.urdf
2023-08-30T14:20:08.1448051Z ==19584== Conditional jump or move depends on uninitialised value(s)
2023-08-30T14:20:08.1448791Z ==19584==    at 0x487273D: iDynTree::exportJoint(iDynTree::IJoint const*, iDynTree::Link const*, iDynTree::Link const*, iDynTree::Model const&, _xmlNode*) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1449626Z ==19584==    by 0x48744DB: iDynTree::URDFStringFromModel(iDynTree::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, iDynTree::ModelExporterOptions) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1450534Z ==19584==    by 0x486E0A0: iDynTree::ModelExporter::exportModelToString(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1450972Z ==19584==    by 0x10ED75: checkImportExportURDF(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)
2023-08-30T14:20:08.1451213Z ==19584==    by 0x10D586: main (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)
2023-08-30T14:20:08.1451308Z ==19584== 
2023-08-30T14:20:08.1451521Z ==19584== Conditional jump or move depends on uninitialised value(s)
2023-08-30T14:20:08.1452209Z ==19584==    at 0x4872765: iDynTree::exportJoint(iDynTree::IJoint const*, iDynTree::Link const*, iDynTree::Link const*, iDynTree::Model const&, _xmlNode*) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1453029Z ==19584==    by 0x48744DB: iDynTree::URDFStringFromModel(iDynTree::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, iDynTree::ModelExporterOptions) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1454068Z ==19584==    by 0x486E0A0: iDynTree::ModelExporter::exportModelToString(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1454490Z ==19584==    by 0x10ED75: checkImportExportURDF(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)
2023-08-30T14:20:08.1454731Z ==19584==    by 0x10D586: main (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)
2023-08-30T14:20:08.1454824Z ==19584== 
2023-08-30T14:20:08.1455040Z ==19584== Conditional jump or move depends on uninitialised value(s)
2023-08-30T14:20:08.1455475Z ==19584==    at 0x488DFCD: idyntree_private_fpconv_dtoa (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1456267Z ==19584==    by 0x487277A: iDynTree::exportJoint(iDynTree::IJoint const*, iDynTree::Link const*, iDynTree::Link const*, iDynTree::Model const&, _xmlNode*) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1457096Z ==19584==    by 0x48744DB: iDynTree::URDFStringFromModel(iDynTree::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, iDynTree::ModelExporterOptions) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1458097Z ==19584==    by 0x486E0A0: iDynTree::ModelExporter::exportModelToString(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1458639Z ==19584==    by 0x10ED75: checkImportExportURDF(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)
2023-08-30T14:20:08.1458886Z ==19584==    by 0x10D586: main (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)
2023-08-30T14:20:08.1458988Z ==19584== 
2023-08-30T14:20:08.1459204Z ==19584== Conditional jump or move depends on uninitialised value(s)
2023-08-30T14:20:08.1459647Z ==19584==    at 0x488DFEE: idyntree_private_fpconv_dtoa (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1460339Z ==19584==    by 0x487277A: iDynTree::exportJoint(iDynTree::IJoint const*, iDynTree::Link const*, iDynTree::Link const*, iDynTree::Model const&, _xmlNode*) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1461178Z ==19584==    by 0x48744DB: iDynTree::URDFStringFromModel(iDynTree::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, iDynTree::ModelExporterOptions) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1462086Z ==19584==    by 0x486E0A0: iDynTree::ModelExporter::exportModelToString(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/lib/libidyntree-modelio.so)
2023-08-30T14:20:08.1462512Z ==19584==    by 0x10ED75: checkImportExportURDF(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)
2023-08-30T14:20:08.1462755Z ==19584==    by 0x10D586: main (in /__w/idyntree/idyntree/build/bin/ModelExporterUnitTest)

Can you check them? To get more informative errors, you can compile locally in Debug model and so you will get the line numbers related to this.

[traversaro]

@mfussi66 sorry, I broke your branch with the commit https://github.com/mfussi66/idyntree/commit/8dfc3f99532003f2152390ac514a495871f8c2a8, but for some reason I couldn't easy create a PR out of it. However, it implements (in the interface) what we discuss, if you could modify the rest of the PR to be aligned it would be great, thanks!

[traversaro]

This is still not ready for review, but probably @francesco-romano may be interested in this.

[mfussi66]

Seems like there are errors related to fortran libraries:

Matlab tests:

{Error using iDynTree.Position (line 10)
Invalid MEX-file '/home/runner/work/idyntree/idyntree/build/lib/iDynTreeMEX.mexa64': /usr/local/MATLAB/R2020b/bin/glnxa64/../../sys/os/glnxa64/libgfortran.so.5: version
`GFORTRAN_10' not found (required by /usr/share/miniconda3/envs/test/lib/./libspral.so)

Debian tests:

2023-08-31T15:04:08.5475268Z gmake[2]: *** No rule to make target '/usr/lib/gcc/x86_64-linux-gnu/12/libgfortran.so', needed by 'bin/iKinConsistencyTest'.  Stop.

Are they an issue for this PR?

[traversaro]

Seems like there are errors related to fortran libraries:

Matlab tests:

{�Error using iDynTree.Position (line 10)
Invalid MEX-file '/home/runner/work/idyntree/idyntree/build/lib/iDynTreeMEX.mexa64': /usr/local/MATLAB/R2020b/bin/glnxa64/../../sys/os/glnxa64/libgfortran.so.5: version
`GFORTRAN_10' not found (required by /usr/share/miniconda3/envs/test/lib/./libspral.so)

Debian tests:

2023-08-31T15:04:08.5475268Z gmake[2]: *** No rule to make target '/usr/lib/gcc/x86_64-linux-gnu/12/libgfortran.so', needed by 'bin/iKinConsistencyTest'.  Stop.

Are they an issue for this PR?

No, please ignore, thanks.

[traversaro]

Thanks @mfussi66 !