Add mesh simplification attribute to <mesh>

[iche033]

🎉 New feature

Implemented proposal in #68

Summary

Adds a new optional attribute called simplification to the <mesh> sdf element. This allows users specify a method for simplifying the mesh, e.g.

<collision name="my_collision">
  <geometry>
    <mesh simplification="convex_decomposition">
      <uri>path_to_complex_mesh</uri>
    </mesh>
  </geometry>
</collision>

Also updated the Mesh DOM class to include this new attribute.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Attention: Patch coverage is 90.00000% with 2 lines in your changes are missing coverage. Please review.

Project coverage is 92.42%. Comparing base (ff9b3ad) to head (64d7c97).
Report is 1 commits behind head on sdf14.

Files	Patch %	Lines
src/Mesh.cc	90.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            sdf14    #1380      +/-   ##
==========================================
- Coverage   92.42%   92.42%   -0.01%     
==========================================
  Files         134      134              
  Lines       17751    17771      +20     
==========================================
+ Hits        16406    16424      +18     
- Misses       1345     1347       +2     

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[ahcorde]

maybe use a enum here?

[iche033]

added enum in 64d7c97

[traversaro]

Could it make sense to add a sentence, a link or a reference to what these methods mean?

[iche033]

expanded this to include description for the values. 64d7c97

[scpeters]

I'm trying to decide if simplification is the right name for this attribute.

Alternatives (which might not be better):

• //mesh/@transformation
• //mesh/@convexity

with candidate values:

• use_convex_hull
• use_convex_decomposition

[iche033]

I think transformation is generic and would be another good candidate. So we don't limit this to just creating convex meshes

[iche033]

replaced by #1382 -> main