Franka sim

[dinies]

Franka simulation example

added :

• urdf model of Franka robot
• meshes related to the model
• example file franka.cpp to simulate the robot

notes
- for the time being, the robot stays still.
- there an additional blank line on the iiwa.cpp that I forgot to revert before pushing the changes

[costashatz]

@dinies thanks for this PR.

@jbmouret @dinies I updated the URDF to one with the hand. Also this one that I had has completely different masses than the one you had. We should use one URDF that we know it makes sense.

Do you want to create 2 URDFs? One with the hand and one without?

Note: Ignore the weird shading of the first 2 links. I am creating a different PR to handle this.

[jbmouret]

We need the gripper, so no need for a second URDF.

We can merge for now if you like. I still want to ask around for "the best URDF" according to our colleagues, but we can change the URDF later.

[costashatz]

Merging...