matteoperotto / icub-models-generator

Resources and programs to generated models (URDF, SDF) of the iCub robot

icub-models-generator

Resources and programs to generate models (URDF, SDF) of the iCub robot. The models automatically generated by the software and the resources in this repository are available at https://github.com/robotology/icub-models .

Note: this repository is meant to streamline the process of producing iCub URDF/SDF models by iCub mantainers. It is not meant to be used directly by users of iCub. For offical info on the kinematic parameters of the iCub, please see the documentation in iCub's documentation.

Dependencies

• iDynTree
• YARP
• simmechanics-to-urdf

Detailed documentation on how to install the softare is current work in progress. In the meanwhile, you can check the exact way in which the software is installing by inspecting the CI GitHub Actions workflow that is used to automatically generate the models of iCub using this repo and commit it to the icub-models repo.

Usage

To generate the models, please ensure that you have all the necessary dependencies. To update the content of a local icub-models repository, set in the ICUB_MODELS_SOURCE_DIR CMake variable the absolute path to your icub-models repository, and execute the copy-models-to-icub-models target.

Pipelines

Currently, it is possible to generate iCub models by means of two different pipelines.

1. The generation is achieved by using Denavit Hartenberg parametsrs based on robot-model hardcoded data in the iKin/iDyn source code, and meshes postprocessed by ISIR at UPMC, Paris, available in dh directory.

2. The generation is achieved from CAD models converted to simmechanics file, as described in https://github.com/icub-tech-iit/cad-mechanics-public/wiki/Creo-mechanism-to-URDF, available in the simmechanics directory.

As the two pipeline process data from different sources, the link frames are not guaranteed to have the same orientation or location across different models. The only frames (that are represented in URDF as massless links) whose position is guaranteed to be consistent across different models are the one documented in https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-model-naming-conventions/icub-model-naming-conventions/ .

Both generation pipelines are still in a work in progress state, and several issues need to be properly solved, e.g.:

• Meshes are not properly handled #28
• Hands and eyes are not generated #29

Generated models

YARP_ROBOT_NAME	Pipeline	Notes
iCubDarmstadt01	simmechanics	v2.5 without backpack
iCubErzelli02	simmechanics	v2.5 with backpack
iCubGazeboV2_5	simmechanics	v2.5 with backpack, joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE).
iCubGazeboV2_5_plus	simmechanics	v2.5 + KIT_007 with backpack, joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE).
iCubGazeboV2_6	simmechanics	v2.6 with joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE).
iCubGazeboV2_7	simmechanics	v2.7 with joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE).
iCubGazeboV3	simmechanics	v3 with joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE).
iCubGenova01	simmechanics	v2.5 without backpack
iCubGenova02	simmechanics	v2.5 + KIT_007 with backpack
iCubGenova03	dh	v2 with legs v1 and feet v2.5
iCubGenova04	simmechanics	v2.5 with backpack
iCubGenova09	simmechanics	v3
iCubGenova04_plus	simmechanics	v2.5 + KIT_007 with backpack
iCubLisboa01	dh	v1 with head v2
iCubNancy01	dh	v2.5 with arms v1 and head v2
iCubParis01	dh	v1 with feet v2.5
iCubParis02	dh	v2 with feet v2.5