Add model for iCubGenova02 plus.

[fiorisi]

As suggested by @fjandrad, we might need to have also the plus version for the robot iCubGenova02.

[traversaro]

What's the plan with the 2.5_plus ankles? If we plan to keep them on the iCubGenova02 more and less all the time, perhaps it could make sense to just generate the iCubGenova02 model with the new 2.5_plus ankles.
Otherwise, we will have this situation in which all the software loads the configuration files for the iCubGenova02 YARP_ROBOT_NAME, but the model that it should load is actually the one contained in the directory if the iCubGenova02_plus model.

[traversaro]

Note: the same observation probably applied in #83 , but probably I did not realized this.

[fiorisi]

If our demos work we can consider making the plus modifications permanent.
I agree with you, to simplify the configuration would be easier to modify the "base" model iCubGenova02.
Not sure about which is a clean approach for this transition though.
What do you suggest?

[traversaro]

It is a bit silly, but I think we should track as much as possible the real robots for the iCubGenovaXX models. If we modify the ankle, I think we should modify the model, if we modify back the robot, we should modify the model again. For now I would modify the iCubGenova02 as soon as the new ankle is installed, as it is the only way to make sure that the wholebodydynamics picks the right model for estimation.

[traversaro]

This is clearly a case in which the automatic generation is essential.

[fiorisi]

The model iCubGenova02_plus has been deleted and the model iCubGenova02 has been updated with the "plus" modifications (15 [deg] on ankle pitch offset and root link IMU). Nevertheless, the real robot iCubGenova02 currently has not the root link IMU.

[traversaro]

A good old case of combinatorial model explosion. : )

As long as no one uses it, the IMU frame is not going to affect the model, right?
Unfortunately I think this will introduce a small error in the inertial parameters of the root link due to the missing IMU, right?

[fiorisi]

Yes, the IMU is 55 [g] (see page 63 of the manual). Probably is negligible?

[traversaro]

Yes, the IMU is 55 [g] (see page 63 of the manual). Probably is negligible?

Between the 15 degrees offset and a 55 g offset, I guess the lesser evil is definitly the 55 g offset. : )

[traversaro]

Ok, I guess some consistency checks need to be modified.

[fjandrad]

Between the 15 degrees offset and a 55 g offset, I guess the lesser evil is definitly the 55 g offset. : )

I agree. We could just consider it as a bit of weight from the wires.