Absolem: Remove debug visuals (#852)

* Absolem: Sync Xacro: Trivial numeric representation changes.

* Absolem: Sync Xacro: Whitespace only changes.

* Absolem: Sync Xacro: 1e-5 changes.

* Absolem: Sync Xacro: Rotation switched to the opposite direction, but it doesn't matter as it only rotates a symmetrical cube visual.

* Absolem: Sync Xacro: Switch to SDF 1.7 <pose relative_to="">.

No geometrical change (verified visually).

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Swap <parent> and <child> tag order.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Move joint SDF above link.

* Absolem: Sync Xacro: Change IMU and friction parameters in Xacro to correspond to the desired values in SDF.

* Absolem: Sync Xacro: Fixed SDF 1.7 <sensor><pose> wrong lumping.

After this commit, the model.sdf can be exactly recreated by the update_robot_sdf script.

Until gazebosim/sdformat#525 gets merged, `ign sdf -p` does not account for the reduced joint transform when outputting sensors attached to lumped frames. But it copies `<sensor><pose>` verbatim, so I took the old values from SDF and put them temporarily in `<sensor><pose>` where they specify relative position of the sensor to base_link where they get lumped.

Printing of the resulting SDF memory model results in flipping one Euler notation, but it's a 100% equivalent transform. Here's a proof by Ignition Math:

Quaterniond initialized by (-2.19645, -1.5707963267948966, 0) has:
 - coefs: -0.629608 -0.321859 -0.629608 0.321859
 - Euler: -2.19645 -1.5708 0

Quaterniond initialized by (3.1415926535897931, -1.5707963267948966, 0.945143) has:
 - coefs: 0.629608 0.321859 0.629608 -0.321859
 - Euler: -2.19645 -1.5708 0

This proves that the one changed line in model.sdf means no practical change.

* Absolem: Removed empty link visuals as they obstructed the omnicam and were not good for anything else.

Author: peci1