Added support for parsing the unit tag in mesh (DAE) files referenced by URDF.

[Michi-Tsubaki]

close #265

Summary

Problems

Currently euscollada does not read unit tag in dae files, and use hardcoded "1000" constant value to convert meter(default unit
of .dae) to milimeter(default unit of euslisp). However, in case of mycobot280, the unit of the mesh file of base is Milimeter while others are Meter.

Changes

• Adds getDaeUnitMeter() that reads from a .dae file using raw string search.
• Replaces hardcoded 1000 multiplier with unit_scale = getDaeUnitMeter(filename) * 1000.0.

Backward-compatible

non-DAE or DAE without both return 1.0 → unit_scale = 1000.0 (same as before).

Note that

I intentionally parse the tag via string search rather than using Assimp because the version of Assimp currently used here does not support unit value. Thus directly reading the raw file content is more robust and ensures backward compatibility.

[Michi-Tsubaki]

The size issue has been resolved. However, as for mycobot 280, it is necessary to fix the issue where joint1_lk is not included in the joint list. Without resolving this, the IK solver cannot compute a valid solution .