Demo for edifice: mecanum wheels

[scpeters]

I'd like to make a new demo for Ignition Edifice that demonstrates an advanced feature of friction modeling available in dartsim since dartsim/dart#1427: using the friction pyramid with a friction direction expressed in a frame fixed to a different body. I believe with this feature we can model the anisotropic friction behavior of mecanum wheels.

• https://en.wikipedia.org/wiki/Mecanum_wheel

There is an ignition system that emulates a mecanum drive in robomaster-oss/rmoss_ign, but it just applies a wrench to the chassis instead of modeling the friction at each wheel and controlling the wheel speeds. They do have meshes that we could use for visualization:

• https://github.com/robomaster-oss/rmoss_ign_resources/blob/main/models/rmua19_standard_robot/meshes/wheel_left.dae
• https://github.com/robomaster-oss/rmoss_ign_resources/blob/main/models/rmua19_standard_robot/meshes/wheel_right.dae