iCubGazeboV2_10 and iCubStanford01 - Add hands with fingers to the models

[martinaxgloria]

This issue aims to track the workaround made for models iCubGazeboV2_10 and iCubStanford01.

Description

iCubGazeboV2_10 and iCubStanford01 urdf are generated using the creo2urdf pipeline from icub_ibbbbeba_sim_model.asm: this simulation model doesn't have the hands with the fingers so far, but the so-called pan hands, and it would be nice to have them for visuomanip tasks. To replace them with hands with fingers, the feasible workaround is:

• starting from the iCubGazeboV2_5_visuomanip (that is equipped with hands), copy from the urdf the link/joint definitions, the mesh inclusions and the plugins for the controlboard, and paste them as XMLBlobs in the yaml that is used to generate the urdf in question;

Note

This first point will be addressed only once. (#263)

• generate the urdf using the creo2urdf pipeline as always;
• in the generated urdf there will be two definitions of l_hand and r_hand links since they refer to the parts that in Creo correspond to the pan hands, but two links with the same name cannot coexist in the urdf. For this reason, I'll manually handle this conflict before merging upstream the changes.

Ideally, in the future we will make changes to the simulation model in order to not manually handle this workaround anymore.