[Feature]: Remove urdfdom < 6 capsule workaround

[jorisv]

🚀 Feature

urdfdom >= 6 support capsule as shape.
In previous urdfdom version, pinocchio was using a workaround to support capsule.
We should remove it when urdfdom 6 become the minimal version supported.

Motivation

Workaround code is here:

        bool isCapsule(const std::string & linkName, const std::string & geomName) const
        {
          LinkMap_t::const_iterator _link = links_.find(linkName);
          assert(_link != links_.end());
          const ptree & link = _link->second;
          if (link.count("collision_checking") == 0)
            return false;
          BOOST_FOREACH (const ptree::value_type & cc, link.get_child("collision_checking"))
          {
            if (cc.first == "capsule")
            {
              std::string name = cc.second.get<std::string>("<xmlattr>.name");
              if (geomName == name)
                return true;
            }
          } // BOOST_FOREACH

          return false;
        }

   // ...

        // Handle the case where collision geometry is a cylinder
        // Use coal capsules for cylinders
        else if (urdf_geometry->type == ::urdf::Geometry::CYLINDER)
        {
          const bool is_capsule = tree.isCapsule(linkName, geomName);
          meshScale << 1, 1, 1;
          const ::urdf::CylinderSharedPtr collisionGeometry =
            ::urdf::static_pointer_cast<::urdf::Cylinder>(urdf_geometry);

          double radius = collisionGeometry->radius;
          double length = collisionGeometry->length;

          // Create coal capsule geometry.
          if (is_capsule)
          {
            meshPath = "CAPSULE";
            geometry = std::shared_ptr<coal::CollisionGeometry>(new coal::Capsule(radius, length));
          }
          else
          {
            meshPath = "CYLINDER";
            geometry = std::shared_ptr<coal::CollisionGeometry>(new coal::Cylinder(radius, length));
          }
        }

An example can be found here:

  <link name="BODY">
    <inertial>
      <origin xyz="0 0 0.0375" rpy="0 0 0"/>
      <mass value="27"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
    </inertial>
    <collision name="test">
      <geometry>
        <cylinder radius="1" length="1"/>
      </geometry>
    </collision>
    <collision name="box">
      <geometry>
        <mesh filename="package://example-robot-data/robots/simple_humanoid_description/meshes/box.stl" />
      </geometry>
    </collision>
    <collision_checking>
      <!--- This tells to pinocchio to replace the cylinder called "test"
           by a capsule with the same radius and length -->
      <capsule name="test"/>
      <convex name="box"/>
    </collision_checking>
  </link>

Alternatives

No response

Additional context

No response

Checklist

• I have checked that there is no similar issue/discussion in the repo.

[nim65s]

ROS Jazzy has urdfdom 4.0.2: https://index.ros.org/p/urdfdom/#jazzy
ROS Jazzy EOL is May 2029: https://docs.ros.org/en/rolling/Releases.html