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Updates to the Andino model #6

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Updates to the Andino model #6

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ndelima-ekumen
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This PR introduces small improvements in the Andino XML file:

  • Most are format changes that improve readability, inspired by the models found in mujoco_menagerie.
  • Some positions were tuned (the most notable is the position and orientation of the Andino chassis).
  • Fixed the caster misalignment and missing joint, also simplified the collision geom.
  • Removed the camera position so it gets aligned with the parent body. There is an issue with this: when including the Andino XML in a scene with other includes, the camera element changes position and size. I'm not sure why this happens, I'll create an issue to investigate that.

@ndelima-ekumen
Added defaults for visual and collision geoms
2376dc5 
Signed-off-by: Nicolas de Lima <[email protected]>
@ndelima-ekumen
Updated caster wheel
8189574 
Fixed caster wheel position.
Added a joint to the caster wheel support for allowing rotation.

Signed-off-by: Nicolas de Lima <[email protected]>
@ndelima-ekumen
Added default class for wheel joints
ff628e1 
Signed-off-by: Nicolas de Lima <[email protected]>
@ndelima-ekumen
Removed attributes with default values
9d20cd0 
Signed-off-by: Nicolas de Lima <[email protected]>
@ndelima-ekumen
Added default class for caster_wheel_support joint
7afcf7b 
Signed-off-by: Nicolas de Lima <[email protected]>
@ndelima-ekumen
Removed position attribute from camera element
82fcd0f 
The camera should be aligned with the camera mount, so it needs to have
the same position as the parent.

Signed-off-by: Nicolas de Lima <[email protected]>
@ndelima-ekumen
Modified wheels
9ef02ab 
Simplified caster wheel collision to a cylinder geom instead of a mesh.
Modified the size of the rubber wheels to better match the mesh size.
Made cylinder geoms for collisions translucent.
Minor formatting changes.

Signed-off-by: Nicolas de Lima <[email protected]>
@ndelima-ekumen
Modified the chassis position and orientation
1e975e2 
Moved the Andino up, so that the base is aligned with the plane z=0.
Changed the orientation: removed the rotation around the z axis, and
added a small tilt in the y axis to take into account the difference in
the size of the wheels.
Minor formatting changes.

Signed-off-by: Nicolas de Lima <[email protected]>
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@hidmic hidmic Awaiting requested review from hidmic hidmic is a code owner

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