[parsers] URDF and YAML generation from ParserResult

[BenjaminNavarro]

Unless I'm missing something, the generated URDF/YAML models must be later read with transformInertia = false because there is no way to recover the original rotation from the available data. I don't know if it is a big issue or if we can find a workaround for this

[gergondet]

Looks ok (I haven't looked very carefully at the conversion code itself but I'm assuming the tests cover it well)

I'd like to see a few changes:

1. Factor the testing code for comparing ParserResult instances and generating the examples since they are basically the same between each tests
2. I don't like that you need to have transformInertia = false with the generated files, you can get an inertia that will transform correctly by calling sva::inertiaToOrigin(inertia, -mass, com, Eigen::Matrix3d::Identity()). The only information that is definitely lost is the inertial frame orientation that could be in the original URDF.

[BenjaminNavarro]

1. Factor the testing code for comparing `ParserResult` instances and generating the examples since they are basically the same between each tests

Ok no problem

2. I don't like that you need to have `transformInertia = false` with the generated files, you can get an inertia that will transform correctly by calling `sva::inertiaToOrigin(inertia, -mass, com, Eigen::Matrix3d::Identity())`. The only information that is definitely lost is the inertial frame orientation that could be in the original URDF.

I don't like it either so I'll try what you suggest and see if it works properly

[BenjaminNavarro]

Ok, so the parser tests refactoring is done and transformInertia=false is no longer necessary! Let's see if the CI is happy

[gergondet]

Thanks for your contribution @BenjaminNavarro