Issues in the iCubGenova05.urdf after introducing pronation/supination+wrist DOFs

[nunoguedelha]

The forearm pronation/supination and wrist DOFs have been introduced in the YAML parameter file for iCubGenova05 model. We are observing the following issues in the generated URDF file :

1. l_elbow joint appears as SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_ELBOW_PROSUP
2. The MTB 1b7, 1b8, 1b9 sensors are attached to l_elbow_1 which is between the elbow and the forearm. While we rotate the l_wrist_prosup joint, l_elbow_1 won't rotate with the forearm cover, where the sensors are attached. In the URDF they should be attached to l_forearm. Same issue for the right forearm sensors.

[nunoguedelha]

1. l_elbow name...
   A typo in the YAML parameter file, section # Rename options (map Creo names to URDF names), is causing this issue in the URDF since the wrong frame name is renamed (SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_FOREARM_HAND instead of SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_ELBOW_PROSUP).
2. The MTB 1b7, 1b8, 1b9 sensors reference link...
   In the YAML file, "exportedFrames" section, frameReferenceLink: l_elbow_1 should be replaced by l_forearm. Same for the right forearm.

Pushing fixes...

[nunoguedelha]

@traversaro, Actually, the simmechanics-to-urdf script is correctly populating the linkNameDisplayName2fid structure from the SIM_MODEL xml file (this one has directly been generated from the CAD), as we can see below :

...
 ('r_forearm', 'SCSYS_R_FOREARM_MTB_ACC_2B7'): 'r_forearmCS2',
 ('r_forearm', 'SCSYS_R_FOREARM_MTB_ACC_2B8'): 'r_forearmCS3',
 ('r_forearm', 'SCSYS_R_FOREARM_MTB_ACC_2B9'): 'r_forearmCS4',
...

As now I'm exporting the sensor frames through the sensors list in the YAML file, the issue 2 is being captured by a python error: the key 'l_elbow_1','SCSYS_R_FOREARM_MTB_ACC_2B7' doesn't exist in the structure mentioned above.