Add ability to provide calibration information in the SRDF

[Levi-Armstrong]

The current calibration config support defining a joint origin in a yaml config file which gets loaded through the srdf. In the environment it will apply these as a ChangeJointOriginCommand.

calibration:
  joints:
    joint_1:
      position:
        x: 1
        y: 2
        z: 3
      orientation:
        x: 0
        y: 0
        z: 0
        w: 1
    joint_2:
      position:
        x: 4
        y: 5
        z: 6
      orientation:
        x: 0
        y: 0
        z: 0
        w: 1

srdf element:

<calibration_config filename="calibration_config.yaml"/>

[codecov]

Codecov Report

Merging #703 (414be93) into master (18da3f1) will decrease coverage by 1.21%.
The diff coverage is 85.86%.

@@            Coverage Diff             @@
##           master     #703      +/-   ##
==========================================
- Coverage   92.16%   90.94%   -1.22%     
==========================================
  Files         173      189      +16     
  Lines       11097    12628    +1531     
==========================================
+ Hits        10227    11484    +1257     
- Misses        870     1144     +274     

Impacted Files	Coverage Δ
tesseract_srdf/include/tesseract_srdf/srdf_model.h	100.00% <ø> (ø)
tesseract_environment/src/environment.cpp	91.65% <50.00%> (-0.09%)	⬇️
tesseract_srdf/src/configs.cpp	75.51% <75.51%> (ø)
tesseract_common/include/tesseract_common/types.h	100.00% <100.00%> (ø)
...eract_common/include/tesseract_common/yaml_utils.h	93.77% <100.00%> (-4.21%)	⬇️
tesseract_common/src/types.cpp	95.12% <100.00%> (+0.38%)	⬆️
tesseract_srdf/src/srdf_model.cpp	88.29% <100.00%> (ø)
tesseract_common/include/tesseract_common/utils.h	96.29% <0.00%> (-3.71%)	⬇️
...nclude/tesseract_common/allowed_collision_matrix.h	100.00% <0.00%> (ø)
... and 16 more

[mpowelson]

Looks reasonable. Are you updating the docs too? It looks like you can specify either a file in the urdf or include the information directly in the SRDF? Is there an easy way to load this after the fact if you have to pull it from somewhere?

[mpowelson]

Can we get more documentation on what this does? Does it replace the existing map or get applied on top of it?

[Levi-Armstrong]

For every entry it applies a ChangeJointOriginCommand, so it is replacing the origin of the joint with what was provided.

[Levi-Armstrong]

Are you updating the docs too?

Yep, see this PR

It looks like you can specify either a file in the urdf or include the information directly in the SRDF?

You can only provide it in the SRDF. The URDF does have a calibration tag but it is currently not supported. I never looked into how this information is used.

Is there an easy way to load this after the fact if you have to pull it from somewhere?

Not exactly. I could create its own command. It currently just loops over the map and applies a ChangeJointOriginCommand for each entry.