Use the models in Gazebo about icub-models

[traversaro]

The relevant issues are:

• #3
• robotology/icub-models-generator#52
  I don't know what is currently working or not, probably @diegoferigo can comment on this.

[S-Dafarra]

Thanks!

[S-Dafarra]

Also I am a bit confused, what's the relation between this repo and icub-model-generator?
Because I am noticing the same issue about the meshes that should have been solved with this PR.
Should I wait the checklist of robotology/icub-models-generator#52 to be completed before having a running simulation?

cc. @DanielePucci

[traversaro]

Also I am a bit confused, what's the relation between this repo and icub-model-generator?

The content of this repo are automatically generated from the software at icub-model-generator using a Travis job. Please see https://github.com/robotology-playground/icub-model-generator/blob/master/.travis.yml#L76 for the logic.

[S-Dafarra]

Thanks! Do you have any idea about how to make Gazebo finding the meshes? Because I tried to add the /icub-models-install/share/iCub folder to the GAZEBO_MODEL_PATH variable but it is not working.

[traversaro]

Relevant issue: robotology/icub-models-generator#25 (comment) .

[diegoferigo]

For future reference I recommended f2f to try adding the folders listed in this file. The README should be updated with Gazebo instructions.

[S-Dafarra]

Thanks! Indeed the folder to be added in GAZEBO_MODEL_PATH was icub-models-install/share, while icub-models-install/share/iCub was not necessary.

[nunoguedelha]

Regarding issue robotology/icub-models-generator#52, I've added some information robotology/icub-models-generator#52 (comment) for helping @fiorisi solving the last point in the checklist (small inertia on Gazebo).

[S-Dafarra]

I modified the installed URDF by hand as @nunoguedelha suggested, but Gazebo crashes. From a rapid debug with @francesco-romano it seems that these lines are causing the crash:

<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_left_leg_mtb.ini</yarpConfigurationFile>
</plugin>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_right_leg_mtb.ini</yarpConfigurationFile>
</plugin>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_left_arm_mtb.ini</yarpConfigurationFile>
</plugin>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_right_arm_mtb.ini</yarpConfigurationFile>
</plugin>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_torso_mtb.ini</yarpConfigurationFile>
</plugin>

Maybe I need to use some particular branches?

In addition it seems that the left arm has some problems

Actually both *_wrist_yaw are in harware fault

[nunoguedelha]

@S-Dafarra these plugins have been released in gazebo-yarp-plugins but I don't remember if it was in devel or master branch. Let me check.
Could you check if you have the inertialMTB boards plugins? look for the string "11b1" for instance. We can keep on by chat.

[S-Dafarra]

I am on the devel branch of gazebo-yarp-plugins.

[S-Dafarra]

Closing this issue since all the above problems have been collected in #7.