[iCubGazeboV3][iCubGenova09] head_imu_acc_1x1 (SCSYS_HEAD_MTX_IMU SimMechanics display name) missing about icub-models

[traversaro]

I do not know if the head IMU was included in this version of the model, probably @Nicogene knows something more on this.
To avoid being blocked on this @prashanthr05, something you can do is to add a fake IMU in the simulation that is oriented as the head link, and start using it (in simulation) until the actual frame is available.

[Nicogene]

Hi @prashanthr05, the frames of the sensors(except the ft-sensors) have not be defined yet, they will be added in a second draft of the model(for example we will add also the frames of the realsense in the chest).

iCub3 SimMechanics XML file doesn't contain a SCSYS_HEAD_MTX_IMU. Should we generate it from the CAD?

Yes, they have to be defined in the cad and then exported in the xml-urdf.

cc @salvi-mattia

[prashanthr05]

@Nicogene Thank you for the information. I will proceed with the workaround of the fake IMU in simulation.

[Nicogene]

I confirm Bosh

[traversaro]

Yes, Bosch is the correct one, I am afraid that Invsense is not exposed at the firmware level.

[Nicogene]

cc @prashanthr05

[prashanthr05]

Can we close it? Is it the imu fine?

The Head IMU frames seem to have been added in this commit 676cb8d.

We have not tested it yet, but the purpose of this issue is sorted. We can close this issue.
We will open a new issue in case if there are problems with the added frames.

Thank you @Nicogene @salvi-mattia @pattacini !

[prashanthr05]

I tagged you here (676cb8d#r44490435) what is it missing or wrong?

I commented there that the required frame has been added. Thanks for pointing to the specific lines.

I will close this issue.

[prashanthr05]

To avoid being blocked on this @prashanthr05, something you can do is to add a fake IMU in the simulation that is oriented as the head link, and start using it (in simulation) until the actual frame is available.

Indeed. Thank you!

[salvi-mattia]

hi all,
the RFE MASTER board has got two different sensor: one from bosh and one from Invsense
which are we going to use?
which measurement frame do we need?

@prashanthr05 @traversaro @S-Dafarra

[pattacini]

which are we going to use?

I think we're using the Bosch one.
A double-check is required anyway.

[Nicogene]

This should be fixed by robotology/icub-models-generator#172

As soon as the CI finished, the model updated should be available, with the head v2.7 and then with the imu

[Nicogene]

Can we close it? Is it the imu fine?

[Nicogene]

I tagged you here (676cb8d#r44490435) what is it missing or wrong?