Model submission for the CERBERUS ANYmal C platform sensor configurations 1 and 2 by CERBERUS

[Samu24]

PR adds CERBERUS ANYmal C sensor configuration 1 & 2.

Sensor configuration 1 includes the basic setup for the ANYmal C robot.
Sensor configuration 2 additionally includes 12 breadcrumbs for deployment.

This PR depends on the controller update in leggedrobotics/cerberus_anymal_locomotion#10.

Notes:
The thumbnail script did not work during the preparation. Therefore the thumbnail images are not added yet.

[Samu24]

fyi @marco-tranzatto

[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[Samu24]

PR leggedrobotics#1 can be merged into this PR once the recompiled plugin for the dome release has been tested.

[Samu24]

@angelacmaio Dome plugin update is merged into this PR.

[osrf-jenkins]

Build finished. No test results found.

[azeey]

This looks good to me. I have tested it locally with the controller from leggedrobotics/cerberus_anymal_locomotion#10. One thing I noticed was that the robot doesn't have a front facing light. Is that intentional?

[nkoenig]

@Samu24, can you address the comment by @azeey? Let me know if you have any questions or need assistance.

[Samu24]

@nkoenig, yes I will have a look.
@azeey, thanks for the review.

The robot should have a forward facing light. There is one in the model.sdf. I can check this again once I manage to overcome #728.

[acschang]

The robot should have a forward facing light. There is one in the model.sdf. I can check this again once I manage to overcome #728.

It seems the light labeled as "forward" actually faces the "rear" with respect to the vehicle spawn and orientation of a positive X velocity request.

[Samu24]

@acschang, thanks for this comment. I think I see the confusion now. In reality we are using the robot to walk in negative x direction all the time as the cameras and lights are in the rear of the robot. That means "forward" on the real robot is rather "backward"

Given that, would it make sense to introduce a dummy frame that connects the real base to the sim base? I.e. that the robot is rotated 180 degrees and a positive command makes the robot walk in the direction of the cameras and the lights.

[osrf-jenkins]

Build finished. No test results found.

[acschang]

Please resolve the comment regarding vehicle orientation in the specifications.md file.

[acschang]

@acschang, thanks for this comment. I think I see the confusion now. In reality we are using the robot to walk in negative x direction all the time as the cameras and lights are in the rear of the robot. That means "forward" on the real robot is rather "backward"

Given that, would it make sense to introduce a dummy frame that connects the real base to the sim base? I.e. that the robot is rotated 180 degrees and a positive command makes the robot walk in the direction of the cameras and the lights.

Thank you for the clarification. A simple note on your convention for operation in the Usage Instructions section of the specifications.md file will be sufficient.

[osrf-jenkins]

Build finished. No test results found.

[osrf-jenkins]

Build finished. No test results found.

[nkoenig]

The bounding box for this model is

Min[-0.599876 -0.316324 -0.503438] Max[0.599877 0.315419 0.284477]

[osrf-jenkins]

Build finished. No test results found.