[ergoCubGazeboV1_*] Add feet IMU in the urdf model generation

[GiulioRomualdi]

Hi @Nicogene! I added the feet IMU on the urdf model. Unfortunately, I don't have creo on my PC so I cannot test the modification.

[GiulioRomualdi]

I tested the model generated by @Nicogene in 3c77a9a. It's working as expected! Thank you @Nicogene!

[GiulioRomualdi]

I checked the IMU data with https://github.com/ami-iit/xcub-sensors-check and all of the readouts are correct. I added the gazebo model with the root fixed and I moved the robot from the motorgui

🧪 Running 12 tests...
├── Running test L_FOOT_FRONT_ORIENTATION...
├── Running test L_FOOT_REAR_ORIENTATION...
├── Running test L_FOOT_FRONT_GYRO...
├── Running test L_FOOT_REAR_GYRO...
├── Running test L_FOOT_REAR_ACC...
├── Running test L_FOOT_FRONT_ACC...
├── Running test R_FOOT_FRONT_ORIENTATION...
├── Running test R_FOOT_REAR_ORIENTATION...
├── Running test R_FOOT_FRONT_GYRO...
├── Running test R_FOOT_REAR_GYRO...
├── Running test R_FOOT_REAR_ACC...
└── Running test R_FOOT_FRONT_ACC...

📊 Test outcomes:
├── 🟢 Test L_FOOT_FRONT_ORIENTATION: Passed
├── 🟢 Test L_FOOT_REAR_ORIENTATION: Passed
├── 🟢 Test L_FOOT_FRONT_GYRO: Passed
├── 🟢 Test L_FOOT_REAR_GYRO: Passed
├── 🟢 Test L_FOOT_REAR_ACC: Passed
├── 🟢 Test L_FOOT_FRONT_ACC: Passed
├── 🟢 Test R_FOOT_FRONT_ORIENTATION: Passed
├── 🟢 Test R_FOOT_REAR_ORIENTATION: Passed
├── 🟢 Test R_FOOT_FRONT_GYRO: Passed
├── 🟢 Test R_FOOT_REAR_GYRO: Passed
├── 🟢 Test R_FOOT_REAR_ACC: Passed
└── 🟢 Test R_FOOT_FRONT_ACC: Passed

Signal	Acc	Gyro	Orientation
r_foot_front
r_foot_rear
l_foot_front
l_foot_front

Here the dataset and the config file to run the tests ergoCubGazeboV1_1_imu.zip

[Nicogene]

cc @martinaxgloria