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Add model for iCubGenova02 plus. #106

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merged 4 commits into from
Sep 7, 2018
Merged

Add model for iCubGenova02 plus. #106

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b1ce692
Add model for iCubGenova02 plus.
fiorisi Sep 7, 2018
3e08b9d
Update the model of iCubGenova02 with the "plus" modifications and de…
fiorisi Sep 7, 2018
f2d6ea2
Update test for the 2.5+ models.
fiorisi Sep 7, 2018
92875ce
Correct typo.
fiorisi Sep 7, 2018
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -38,7 +38,7 @@ Both generation pipelines are still in `a work in progress` state, and several i
| `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 |
| `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 |
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5 changes: 3 additions & 2 deletions simmechanics/CMakeLists.txt
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Expand Up @@ -252,9 +252,10 @@ generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova04_plus
ICUB_PLUS)

generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova02
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
SIMMECHANICS_XML "icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in")
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
ICUB_PLUS)

generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova04
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
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2 changes: 1 addition & 1 deletion tests/CMakeLists.txt
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Expand Up @@ -24,9 +24,9 @@ endif()
# Model generated with simmechanics
if( ICUB_MODEL_GENERATE_SIMMECHANICS )
add_icub_model_test(iCubGazeboV2_5)
add_icub_model_test(iCubGazeboV2_5_plus)
add_icub_model_test(iCubGenova01)
add_icub_model_test(iCubGenova02)
add_icub_model_test(iCubGenova04)
add_icub_model_test(iCubDarmstadt01)
endif()

11 changes: 9 additions & 2 deletions tests/icub-model-test.cpp
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Expand Up @@ -316,14 +316,21 @@ bool checkFTSensorsAreCorrectlyOriented(iDynTree::KinDynComputations & comp)
iDynTree::Rotation(-1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, -1.0);
// The rotation of the foot F/T sensors in the iCub 2.5+ is different
iDynTree::Rotation rootLink_R_foot_sensorFrameExpected_plus =
iDynTree::Rotation(-0.965926, 0.0, 0.258819,
0.0, 1.0, 0.0,
-0.258819, 0.0, -0.965926);

bool isPlusModel = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_foot_sensorFrameExpected_plus, "l_foot_ft_sensor")
&& checkFTSensorIsCorrectlyOriented(comp, rootLink_R_foot_sensorFrameExpected_plus, "r_foot_ft_sensor");

bool ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "l_arm_ft_sensor");
ok = ok && checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "r_arm_ft_sensor");
ok = ok && checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "l_leg_ft_sensor");
ok = ok && checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "r_leg_ft_sensor");
ok = ok && checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "l_foot_ft_sensor");
ok = ok && checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "r_foot_ft_sensor");
ok = ok && (checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "l_foot_ft_sensor") || isPlusModel);
ok = ok && (checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "r_foot_ft_sensor") || isPlusModel);

return ok;
}
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