simple_humanoid: add mesh, update srdf with rotor info, urdf with coliison info (#120)

* simple_humanoid: add mesh, update srdf with rotor info, urdf with colliison info

* simple_humanoid: fix mesh path

Co-authored-by: Rohan Budhiraja <proyan@users.noreply.github.com>

robots/simple_humanoid_description/meshes/box.stl

+solid Exported from Blender-2.78 (sub 0)
+facet normal -1.000000 0.000000 0.000000
+outer loop
+vertex -0.500000 -0.500000 -0.500000
+vertex -0.500000 -0.500000 0.500000
+vertex -0.500000 0.500000 0.500000
+endloop
+endfacet
+facet normal -1.000000 0.000000 0.000000
+outer loop
+vertex -0.500000 0.500000 0.500000
+vertex -0.500000 0.500000 -0.500000
+vertex -0.500000 -0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 1.000000 0.000000
+outer loop
+vertex -0.500000 0.500000 -0.500000
+vertex -0.500000 0.500000 0.500000
+vertex 0.500000 0.500000 0.500000
+endloop
+endfacet
+facet normal 0.000000 1.000000 0.000000
+outer loop
+vertex 0.500000 0.500000 0.500000
+vertex 0.500000 0.500000 -0.500000
+vertex -0.500000 0.500000 -0.500000
+endloop
+endfacet
+facet normal 1.000000 0.000000 0.000000
+outer loop
+vertex 0.500000 0.500000 -0.500000
+vertex 0.500000 0.500000 0.500000
+vertex 0.500000 -0.500000 0.500000
+endloop
+endfacet
+facet normal 1.000000 0.000000 0.000000
+outer loop
+vertex 0.500000 -0.500000 0.500000
+vertex 0.500000 -0.500000 -0.500000
+vertex 0.500000 0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 -1.000000 0.000000
+outer loop
+vertex -0.500000 -0.500000 0.500000
+vertex -0.500000 -0.500000 -0.500000
+vertex 0.500000 -0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 -1.000000 0.000000
+outer loop
+vertex 0.500000 -0.500000 -0.500000
+vertex 0.500000 -0.500000 0.500000
+vertex -0.500000 -0.500000 0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 -1.000000
+outer loop
+vertex 0.500000 -0.500000 -0.500000
+vertex -0.500000 -0.500000 -0.500000
+vertex -0.500000 0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 -1.000000
+outer loop
+vertex -0.500000 0.500000 -0.500000
+vertex 0.500000 0.500000 -0.500000
+vertex 0.500000 -0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 1.000000
+outer loop
+vertex 0.500000 0.500000 0.500000
+vertex -0.500000 0.500000 0.500000
+vertex -0.500000 -0.500000 0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 1.000000
+outer loop
+vertex -0.500000 -0.500000 0.500000
+vertex 0.500000 -0.500000 0.500000
+vertex 0.500000 0.500000 0.500000
+endloop
+endfacet
+endsolid Exported from Blender-2.78 (sub 0)

robots/simple_humanoid_description/srdf/simple_humanoid.srdf

@@ -128,6 +128,38 @@
     <joint name="CHEST"           value="0" />
   </group_state>
 
+    <rotor_params>
+        <joint name="WAIST_P" mass="1.0" gear_ratio="0.0" />
+        <joint name="WAIST_R" mass="0.0" gear_ratio="1.0" />
+        <joint name="CHEST" mass="0.0" gear_ratio="0.0" />
+        <joint name="LARM_SHOULDER_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="LARM_SHOULDER_R" mass="0.0" gear_ratio="0.0" />
+        <joint name="LARM_SHOULDER_Y" mass="0.0" gear_ratio="0.0" />
+        <joint name="LARM_ELBOW" mass="0.0" gear_ratio="0.0" />
+        <joint name="LARM_WRIST_Y" mass="0.0" gear_ratio="0.0" />
+        <joint name="LARM_WRIST_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="LARM_WRIST_R" mass="0.0" gear_ratio="0.0" />
+        <joint name="RARM_SHOULDER_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="RARM_SHOULDER_R" mass="0.0" gear_ratio="0.0" />
+        <joint name="RARM_SHOULDER_Y" mass="0.0" gear_ratio="0.0" />
+        <joint name="RARM_ELBOW" mass="0.0" gear_ratio="0.0" />
+        <joint name="RARM_WRIST_Y" mass="0.0" gear_ratio="0.0" />
+        <joint name="RARM_WRIST_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="RARM_WRIST_R" mass="0.0" gear_ratio="0.0" />
+        <joint name="LLEG_HIP_R" mass="0.0" gear_ratio="0.0" />
+        <joint name="LLEG_HIP_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="LLEG_HIP_Y" mass="0.0" gear_ratio="0.0" />
+        <joint name="LLEG_KNEE" mass="0.0" gear_ratio="0.0" />
+        <joint name="LLEG_ANKLE_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="LLEG_ANKLE_R" mass="0.0" gear_ratio="0.0" />
+        <joint name="RLEG_HIP_R" mass="0.0" gear_ratio="0.0" />
+        <joint name="RLEG_HIP_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="RLEG_HIP_Y" mass="0.0" gear_ratio="0.0" />
+        <joint name="RLEG_KNEE" mass="0.0" gear_ratio="0.0" />
+        <joint name="RLEG_ANKLE_P" mass="0.0" gear_ratio="0.0" />
+        <joint name="RLEG_ANKLE_R" mass="0.0" gear_ratio="0.0" />
+    </rotor_params>
+
   <!--
    Simple Humnaoid Specificities.
      foot height = y axis

robots/simple_humanoid_description/urdf/simple_humanoid.urdf

@@ -14,6 +14,22 @@
       <mass value="27"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
     </inertial>
+    <collision name="test">
+      <geometry>
+        <cylinder radius="1" length="1"/>
+      </geometry>
+    </collision>
+    <collision name="box">
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/simple_humanoid_description/meshes/box.stl" />
+      </geometry>
+    </collision>
+    <collision_checking>
+      <!--- This tells to pinocchio to replace the cylinder called "test"
+           by a capsule with the same radius and length -->
+      <capsule name="test"/>
+      <convex name="box"/>
+    </collision_checking>
   </link>
 
   <link name="WAIST_LINK1">