Add icub-models and verify there is no cross talking in the installed models with other repositories about robotology-superbuild

[traversaro]

@gabrielenava What is the current status of this? We are still using the models provided by yarpWholeBodyInterface when whole-body-controllers is installed using the robotology-superbuild ?

[traversaro]

Original description:

Until now, all the software used by the codyco-superbuild used the models installed by the yarpWholeBodyInterface . Recently we introduced the icub-models repository, contained only the iCub models automatically generated by icub-model-generator.
The two repositories install their model in the same location respecting the YARP guidelines for installing robot-specific files: http://www.yarp.it/yarp_data_dirs.html .
However, several manual modifications accumulated in the models committed in yarpWholeBodyInterface models. Furthermore there are some models that are present in yarpWholeBodyInterface that are not present in icub-models .
I think we should proceed in this way:

• Test the real robot models present both in yarpWholeBodyInterface and icub-models to make sure that demos work fine with icub-models models. Once this has been assessed, add icub-models to the codyco-superbuild and remove from yarpWholeBodyInterface the models already contained in icub-models .
• Understand how to handle the icubGazeboSim model, that is a model roughly matching the icub model contained in https://github.com/robotology/icub-gazebo/tree/master/icub .
• Understand how to handle the remaining models present in the repo.

cc @DanielePucci @fiorisi @diegoferigo @gabrielenava @nunoguedelha

[gabrielenava]

@gabrielenava What is the current status of this? We are still using the models provided by yarpWholeBodyInterface when whole-body-controllers is installed using the robotology-superbuild ?

this point:

Test the real robot models present both in yarpWholeBodyInterface and icub-models to make sure that demos work fine with icub-models models. Once this has been assessed, add icub-models to the codyco-superbuild and remove from yarpWholeBodyInterface the models already contained in icub-models .

Has been achieved. The robot was able to perform the Yoga demo in simulation, see .

This other task

Understand how to handle the icubGazeboSim model, that is a model roughly matching the icub model contained in https://github.com/robotology/icub-gazebo/tree/master/icub .

Is still TODO. In particular, icubGazeboSim model is still required for the demos that imply the usage of a Gazebo world, like the icub on a chair or icub on a seesaw demo.

The yarpWholeBodyInterface configuration files are instead no more required, because WBToolbox now takes the configuration specified in Simulink.

[traversaro]

Has been achieved. The robot was able to perform the Yoga demo in simulation, see .

See? Furthermore, in all the recent demonstration have you use the icub-models models or the yarpWholeBodyInterface one?

Is still TODO. In particular, icubGazeboSim model is still required for the demos that imply the usage of a Gazebo world, like the icub on a chair or icub on a seesaw demo.

This is not a big problem. We can start by removing all the non-icubGazeboSim model.urdf from yarpWholeBodyInterface and decide where to store the icubGazeboSim model.urdf when we remove the yarpWholeBodyInterface from the superbuild.

[gabrielenava]

Has been achieved. The robot was able to perform the Yoga demo in simulation, see .

this issue robotology-legacy/icub-gazebo-wholebody#19 (comment).

I am currently using the icub-models models. On the real robot I suspect we are still using the ones coming from the yarpWholeBodyInterface.

[lrapetti]

icub-model successfully tested on iCubGenova04 with Yoga++.

@traversaro

[traversaro]

See #91 .

As in the documentation and in the setup.sh the <prefix>/share/iCub directory is listed in the YARP_DATA_DIRS before <prefix>/share/codyco, the models installed by this repo will be automatically take the precendence w.r.t. to the ones installed by https://github.com/robotology/yarp-wholebodyinterface/ . Because of this, we can first merge this PR and then remove the models that are overlapping between icub-models and yarp-wholebodyinterface .

For icubGazeboSim, I think it make sense for the model.urdf to be installed by the icub-gazebo repo.