Add visualization of a subset of frames in idyntree-model-view

[traversaro]

It happens quite frequently that you want to visualize how frames are oriented in a model. People are frequently using https://github.com/robotology/whole-body-controllers/blob/90ff965a523f0a120e6a8981b71326c1485e7742/utilities/plotRobotFrames.m, that however is a bit cumbersome to setup. A possible alternative is to add the --frames option to idyntree-model-view tools, something like that:

idyntree-model-view -m /path/to/folder/model.urdf --frames "head_imu_0 waist_imu_0"

fyi @Nicogene @S-Dafarra @GiulioRomualdi

Kind of related to #942 .

[traversaro]

The idyntree-model-view.cpp code is quite compact: https://github.com/robotology/idyntree/blob/master/src/tools/idyntree-model-view.cpp .

[Nicogene]

cc @martinaxgloria

[traversaro]

Features we can use:

• Visualize frames (added in Feature/visualization++ #802)
• Visualize labels for frames (added in Allow the visualization of labels #879)

[S-Dafarra]

I have added the possibility to visualize frames of a model in 2b82df4

I can modify idyntree-model-view too

[S-Dafarra]

I can modify idyntree-model-view too

Done in fd67ed6 (Related PR #1163 )

[S-Dafarra]

Example output