The ResourceFinder is now used to read configuration files for WBI-T. The idea is that the urdf file location is written in a configuration file called WBITconfig.ini in simulink/libraries/wbInterfaceNEW/conf. For the resource finder to be able to locate the right context though, you need to append to your YARP_DATA_DIRS environmental variable /home/jorhabib/Documents/IIT/CoDyCo/codyco2/build/share/codyco/ where CODYCO_DIR expands to the location of your CODYCO /byild directory.
Merge branch 'simulink/configFiles'