icub-model-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 wiki.
Dependencies
Required only if you wish to generate DH models (ICUB_MODEL_GENERATE_DH = ON). Make sure you have compiled iDynTree with the option IDYNTREE_USES_KDL = ON.
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.
-
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
dhdirectory. -
The generation is achieved from CAD models converted to simmechanics file, as described in http://wiki.icub.org/wiki/Creo_Mechanism_to_URDF , available in the
simmechanicsdirectory.
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 http://wiki.icub.org/wiki/ICub_Model_naming_conventions#Frames .
Both generation pipelines are still in a work in progress state, and several issues need to be properly solved, e.g.:
Generated models
YARP_ROBOT_NAME |
Pipeline | Notes |
|---|---|---|
iCubDarmstadt01 |
simmechanics | v2.5 without backpack |
iCubGazeboV2_5 |
simmechanics | v2.5 with backpack, joint damping, and inertias of some links modified to run smoothly in Gazebo |
iCubGazeboV2_5_plus |
simmechanics | v2.5+ with backpack, joint damping, and inertias of some links modified to run smoothly in Gazebo |
iCubGenova01 |
simmechanics | v2.5 without backpack |
iCubGenova02 |
simmechanics | v2.5+ with backpack |
iCubGenova03 |
dh | v2 with legs v1 and feet v2.5 |
iCubGenova04 |
simmechanics | v2.5 with backpack |
iCubGenova04_plus |
simmechanics | v2.5+ 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 |