Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

icub3: remove (almost) all the mass/inertia workaround #194

Merged
merged 1 commit into from
Jan 28, 2021
Merged

icub3: remove (almost) all the mass/inertia workaround #194

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
921 changes: 493 additions & 428 deletions simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml
View file
Open in desktop

Large diffs are not rendered by default.

61 changes: 1 addition & 60 deletions simmechanics/data/icub3/ICUB_3_all_options.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -407,66 +407,7 @@ sensors:
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini</yarpConfigurationFile>
</plugin>
assignedMasses:
# It fixes the right/left asymmetry for the legs
r_hip_1: 2.48546
r_hip_2: 1.8834
r_hip_3: 2.29352
r_upper_leg: 2.24396
r_lower_leg: 4.59072
r_ankle_1: 1.80595
r_ankle_2: 1.06976
r_foot_rear: 0.18484137
l_foot_rear: 0.18460842
l_foot_front: 0.18507432
# It fixes the wrong mass exported after shrinkwrap
# head: 1.955 NOT NEEDED WITH THE HEAD 2.7
assignedInertias:
# It fixes the wrong inertias exported after shrinkwrap
- linkName: r_hip_1
xx: 0.00285629
yy: 0.00230094
zz: 0.00246343
- linkName: r_hip_2
xx: 0.00530457
yy: 0.00316497
zz: 0.00322503
- linkName: r_hip_3
xx: 0.00410859
yy: 0.00385326
zz: 0.00385557
- linkName: r_upper_leg
xx: 0.00476284
yy: 0.00479384
zz: 0.00194527
- linkName: r_lower_leg
xx: 0.0331663
yy: 0.0309756
zz: 0.00525251
- linkName: r_ankle_1
xx: 0.00329109
yy: 0.00097845
zz: 0.00298837
- linkName: r_ankle_2
xx: 0.00510275
yy: 0.000995114
zz: 0.00458166
- linkName: r_foot_rear
xx: 0.000769193
yy: 0.000565835
zz: 0.00132907
- linkName: r_foot_front
xx: 0.000770637
yy: 0.000568064
zz: 0.001333
- linkName: head
xx: 7.5908054e-03
yy: 5.6755473e-03
zz: 7.1266850e-03
- linkName: l_upper_arm
xx: 0.00382639
yy: 0.00368146
zz: 0.00167002

reverseRotationAxis:
r_hip_yaw
r_hip_roll
Expand Down
60 changes: 0 additions & 60 deletions simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -408,62 +408,7 @@ sensors:
@ASSIGNED_COLLISION_GEOMETRIES@


assignedMasses:
# It fixes the right/left asymmetry for the legs
r_hip_1: 2.48546
r_hip_2: 1.8834
r_hip_3: 2.29352
r_upper_leg: 2.24396
r_lower_leg: 4.59072
r_ankle_1: 1.80595
r_ankle_2: 1.06976
r_foot_rear: 0.18484137
l_foot_rear: 0.18460842
l_foot_front: 0.18507432
# It fixes the wrong mass exported after shrinkwrap
# head: 1.955 NOT NEEDED WITH THE HEAD 2.7
assignedInertias:
# It fixes the wrong inertias exported after shrinkwrap
- linkName: r_hip_1
xx: 0.00285629
yy: 0.00230094
zz: 0.00246343
- linkName: r_hip_2
xx: 0.00530457
yy: 0.00316497
zz: 0.00322503
- linkName: r_hip_3
xx: 0.00410859
yy: 0.00385326
zz: 0.00385557
- linkName: r_upper_leg
xx: 0.00476284
yy: 0.00479384
zz: 0.00194527
- linkName: r_lower_leg
xx: 0.0331663
yy: 0.0309756
zz: 0.00525251
- linkName: r_ankle_1
xx: 0.00329109
yy: 0.00097845
zz: 0.00298837
- linkName: r_ankle_2
xx: 0.00510275
yy: 0.000995114
zz: 0.00458166
- linkName: r_foot_rear
xx: 0.000769193
yy: 0.000565835
zz: 0.00132907
- linkName: r_foot_front
xx: 0.000770637
yy: 0.000568064
zz: 0.001333
- linkName: head
xx: 7.5908054e-03
yy: 5.6755473e-03
zz: 7.1266850e-03
# This is due to https://github.com/robotology/icub-models/issues/33
- linkName: r_shoulder_1
xx: 0.01
Expand Down Expand Up @@ -552,11 +497,6 @@ mirroredInertia:
simmetryReferenceLink: root_link
symmetryPlane: xz

- mirroredLink: r_lower_leg
originalLink: l_lower_leg
simmetryReferenceLink: root_link
symmetryPlane: xz

reverseRotationAxis:
r_hip_yaw
r_hip_roll
Expand Down
58 changes: 29 additions & 29 deletions simmechanics/data/icub3/meshes/simmechanics/sim_head_head_prt.stl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75270,14 +75270,14 @@ solid SIM_HEAD_HEAD
vertex -1.149074e+01 -6.387703e+01 -9.537486e+00
endloop
endfacet
facet normal -8.924476e-01 2.190228e-15 -4.511512e-01
facet normal -8.924476e-01 1.537021e-15 -4.511512e-01
outer loop
vertex -1.149074e+01 -6.025000e+01 -9.537486e+00
vertex -1.149074e+01 -6.387703e+01 -9.537486e+00
vertex -1.341455e+01 -5.988877e+01 -5.731897e+00
endloop
endfacet
facet normal -6.008755e-01 1.976345e-15 -7.993426e-01
facet normal -6.008755e-01 1.778710e-15 -7.993426e-01
outer loop
vertex -8.519487e+00 -5.985000e+01 -1.177101e+01
vertex -1.149074e+01 -6.387703e+01 -9.537486e+00
Expand Down Expand Up @@ -75312,7 +75312,7 @@ solid SIM_HEAD_HEAD
vertex -1.495896e+01 -6.387703e+01 -4.335415e-01
endloop
endfacet
facet normal -8.747529e-01 2.373201e-16 4.845693e-01
facet normal -8.747529e-01 -6.195085e-16 4.845693e-01
outer loop
vertex -1.186476e+01 -6.025000e+01 9.171627e+00
vertex -1.406480e+01 -6.387703e+01 5.200077e+00
Expand All @@ -75333,7 +75333,7 @@ solid SIM_HEAD_HEAD
vertex -9.184891e+00 -6.387703e+01 1.187266e+01
endloop
endfacet
facet normal -6.322250e-01 3.794545e-16 7.747848e-01
facet normal -6.322250e-01 -2.398158e-16 7.747848e-01
outer loop
vertex -1.186476e+01 -6.025000e+01 9.171627e+00
vertex -1.186476e+01 -6.387703e+01 9.171627e+00
Expand Down Expand Up @@ -75564,28 +75564,28 @@ solid SIM_HEAD_HEAD
vertex -9.254707e+00 -5.985000e+01 -6.646269e+00
endloop
endfacet
facet normal 1.565685e-15 1.000000e+00 2.246205e-16
facet normal 7.685667e-16 1.000000e+00 1.496756e-15
outer loop
vertex -4.355579e+00 -5.985000e+01 -9.161915e+00
vertex -8.519487e+00 -5.985000e+01 -1.177101e+01
vertex -9.254707e+00 -5.985000e+01 -6.646269e+00
endloop
endfacet
facet normal 4.214210e-14 -1.000000e+00 5.127430e-15
facet normal 0.000000e+00 -1.000000e+00 0.000000e+00
outer loop
vertex -1.000353e+01 -5.985000e+01 -1.877537e+00
vertex -9.254707e+00 -5.985000e+01 -6.646269e+00
vertex -1.017208e+01 -5.985000e+01 -4.922089e-01
endloop
endfacet
facet normal 2.409746e-15 1.000000e+00 1.868398e-15
facet normal 0.000000e+00 1.000000e+00 0.000000e+00
outer loop
vertex -4.355579e+00 -5.985000e+01 -9.161915e+00
vertex -9.254707e+00 -5.985000e+01 -6.646269e+00
vertex -1.000353e+01 -5.985000e+01 -1.877537e+00
endloop
endfacet
facet normal -6.326528e-01 1.153895e-15 -7.744355e-01
facet normal -6.326528e-01 9.989727e-16 -7.744355e-01
outer loop
vertex -6.468591e+00 -6.025000e+01 -1.344644e+01
vertex -6.468591e+00 -6.387703e+01 -1.344644e+01
Expand All @@ -75599,7 +75599,7 @@ solid SIM_HEAD_HEAD
vertex -8.519487e+00 -5.985000e+01 -1.177101e+01
endloop
endfacet
facet normal 4.108949e-16 1.000000e+00 2.067570e-15
facet normal 1.403519e-15 1.000000e+00 4.834247e-16
outer loop
vertex -4.355579e+00 -5.985000e+01 -9.161915e+00
vertex -3.084902e+00 -5.985000e+01 -1.285105e+01
Expand Down Expand Up @@ -75746,7 +75746,7 @@ solid SIM_HEAD_HEAD
vertex 1.012259e+01 -5.985000e+01 -1.106432e+00
endloop
endfacet
facet normal -2.786909e-15 -1.000000e+00 2.633151e-16
facet normal -4.180364e-15 -1.000000e+00 3.949726e-16
outer loop
vertex 4.258407e+00 -5.985000e+01 -9.203567e+00
vertex 1.012259e+01 -5.985000e+01 -1.106432e+00
Expand Down Expand Up @@ -75774,7 +75774,7 @@ solid SIM_HEAD_HEAD
vertex 1.017718e+01 -5.985000e+01 -5.286492e-01
endloop
endfacet
facet normal 1.599822e-15 1.000000e+00 9.202322e-16
facet normal 1.580637e-15 1.000000e+00 2.084594e-15
outer loop
vertex 9.254707e+00 -5.985000e+01 -6.646269e+00
vertex 1.017718e+01 -5.985000e+01 -5.286492e-01
Expand All @@ -75788,7 +75788,7 @@ solid SIM_HEAD_HEAD
vertex 1.017718e+01 -5.985000e+01 -5.286492e-01
endloop
endfacet
facet normal 8.968742e-16 1.000000e+00 1.026230e-15
facet normal 2.526701e-16 1.000000e+00 2.284838e-15
outer loop
vertex 4.258407e+00 -5.985000e+01 -9.203567e+00
vertex 1.017718e+01 -5.985000e+01 -5.286492e-01
Expand Down Expand Up @@ -75858,7 +75858,7 @@ solid SIM_HEAD_HEAD
vertex 9.201405e+00 -6.387703e+01 1.188975e+01
endloop
endfacet
facet normal 1.011438e-15 6.811720e-01 -7.321234e-01
facet normal 5.057190e-16 6.811720e-01 -7.321234e-01
outer loop
vertex 8.830222e-01 -5.318111e+01 1.817284e+01
vertex 3.084902e+00 -5.985000e+01 1.196807e+01
Expand Down Expand Up @@ -80072,28 +80072,28 @@ solid SIM_HEAD_HEAD
vertex 3.192264e+00 -6.188398e+01 -1.108670e+02
endloop
endfacet
facet normal -2.967456e-01 9.353888e-16 -9.549566e-01
facet normal -2.967456e-01 1.325781e-15 -9.549566e-01
outer loop
vertex -2.266963e+00 -6.025000e+01 -1.475206e+01
vertex -2.266963e+00 -6.387703e+01 -1.475206e+01
vertex -6.468591e+00 -6.387703e+01 -1.344644e+01
endloop
endfacet
facet normal -2.967456e-01 8.348448e-16 -9.549566e-01
facet normal -2.967456e-01 7.235322e-16 -9.549566e-01
outer loop
vertex -2.266963e+00 -6.025000e+01 -1.475206e+01
vertex -6.468591e+00 -6.387703e+01 -1.344644e+01
vertex -6.468591e+00 -6.025000e+01 -1.344644e+01
endloop
endfacet
facet normal -4.644213e-03 9.794182e-16 -9.999892e-01
facet normal -4.644213e-03 1.949612e-15 -9.999892e-01
outer loop
vertex 2.295913e+00 -6.025000e+01 -1.477325e+01
vertex -2.266963e+00 -6.387703e+01 -1.475206e+01
vertex -2.266963e+00 -6.025000e+01 -1.475206e+01
endloop
endfacet
facet normal -4.644213e-03 9.857537e-16 -9.999892e-01
facet normal -4.644213e-03 4.971416e-16 -9.999892e-01
outer loop
vertex 2.295913e+00 -6.025000e+01 -1.477325e+01
vertex 2.295913e+00 -6.387703e+01 -1.477325e+01
Expand Down Expand Up @@ -80338,21 +80338,21 @@ solid SIM_HEAD_HEAD
vertex -3.084902e+00 -5.985000e+01 -1.285105e+01
endloop
endfacet
facet normal 3.677316e-15 9.785719e-01 -2.059052e-01
facet normal 1.185649e-16 9.785719e-01 -2.059052e-01
outer loop
vertex 3.084902e+00 -5.985000e+01 -1.285105e+01
vertex -2.266963e+00 -6.025000e+01 -1.475206e+01
vertex -3.084902e+00 -5.985000e+01 -1.285105e+01
endloop
endfacet
facet normal 3.454936e-15 1.000000e+00 -1.111557e-15
facet normal -1.121724e-30 1.000000e+00 1.948037e-15
outer loop
vertex 4.258407e+00 -5.985000e+01 -9.203567e+00
vertex 3.084902e+00 -5.985000e+01 -1.285105e+01
vertex -3.084902e+00 -5.985000e+01 -1.285105e+01
endloop
endfacet
facet normal 1.661823e-15 1.000000e+00 2.498437e-15
facet normal 8.262472e-16 1.000000e+00 2.845906e-16
outer loop
vertex -4.355579e+00 -5.985000e+01 -9.161915e+00
vertex 4.258407e+00 -5.985000e+01 -9.203567e+00
Expand All @@ -80366,7 +80366,7 @@ solid SIM_HEAD_HEAD
vertex 3.084902e+00 -5.985000e+01 -1.285105e+01
endloop
endfacet
facet normal 1.405457e-15 1.000000e+00 -4.521779e-16
facet normal 9.980424e-16 1.000000e+00 1.626937e-15
outer loop
vertex 4.258407e+00 -5.985000e+01 -9.203567e+00
vertex 8.480678e+00 -5.985000e+01 -1.179371e+01
Expand All @@ -80380,7 +80380,7 @@ solid SIM_HEAD_HEAD
vertex 8.480678e+00 -5.985000e+01 -1.179371e+01
endloop
endfacet
facet normal 1.540721e-15 1.000000e+00 -2.316807e-16
facet normal 7.752766e-16 1.000000e+00 1.263800e-15
outer loop
vertex 4.258407e+00 -5.985000e+01 -9.203567e+00
vertex 9.254707e+00 -5.985000e+01 -6.646269e+00
Expand Down Expand Up @@ -80415,7 +80415,7 @@ solid SIM_HEAD_HEAD
vertex 8.480678e+00 -5.985000e+01 -1.179371e+01
endloop
endfacet
facet normal 6.277595e-01 9.161813e-16 -7.784074e-01
facet normal 6.277595e-01 1.156012e-15 -7.784074e-01
outer loop
vertex 6.287995e+00 -6.025000e+01 -1.356204e+01
vertex 8.480678e+00 -5.985000e+01 -1.179371e+01
Expand Down Expand Up @@ -84531,14 +84531,14 @@ solid SIM_HEAD_HEAD
vertex 9.747294e+00 -6.207414e+01 -1.106548e+02
endloop
endfacet
facet normal 2.903347e-01 5.282865e-16 -9.569252e-01
facet normal 2.903347e-01 0.000000e+00 -9.569252e-01
outer loop
vertex 6.287995e+00 -6.025000e+01 -1.356204e+01
vertex 2.295913e+00 -6.387703e+01 -1.477325e+01
vertex 2.295913e+00 -6.025000e+01 -1.477325e+01
endloop
endfacet
facet normal 2.903347e-01 1.008413e-15 -9.569252e-01
facet normal 2.903347e-01 2.423053e-16 -9.569252e-01
outer loop
vertex 6.287995e+00 -6.025000e+01 -1.356204e+01
vertex 6.287995e+00 -6.387703e+01 -1.356204e+01
Expand Down Expand Up @@ -88948,7 +88948,7 @@ solid SIM_HEAD_HEAD
vertex 2.776412e+01 -6.387703e+01 -4.865000e+01
endloop
endfacet
facet normal 6.738782e-01 -1.149188e-15 -7.388425e-01
facet normal 6.738782e-01 -8.191528e-16 -7.388425e-01
outer loop
vertex 1.138725e+01 -6.025000e+01 -9.679486e+00
vertex 1.138725e+01 -6.387703e+01 -9.679486e+00
Expand Down Expand Up @@ -89088,7 +89088,7 @@ solid SIM_HEAD_HEAD
vertex 9.414981e+00 -5.922602e+01 -1.095465e+02
endloop
endfacet
facet normal 7.138384e-01 -6.992113e-16 7.003105e-01
facet normal 7.138384e-01 -6.859606e-16 7.003105e-01
outer loop
vertex 1.197509e+01 -6.025000e+01 9.062485e+00
vertex 9.201405e+00 -6.387703e+01 1.188975e+01
Expand Down Expand Up @@ -94072,14 +94072,14 @@ solid SIM_HEAD_HEAD
vertex 1.138725e+01 -6.387703e+01 -9.679486e+00
endloop
endfacet
facet normal 8.890083e-01 -2.504797e-16 -4.578911e-01
facet normal 8.890083e-01 1.849163e-16 -4.578911e-01
outer loop
vertex 1.138725e+01 -6.025000e+01 -9.679486e+00
vertex 1.338495e+01 -5.988932e+01 -5.800895e+00
vertex 1.138725e+01 -6.387703e+01 -9.679486e+00
endloop
endfacet
facet normal 8.753061e-01 -8.573704e-16 4.835693e-01
facet normal 8.753061e-01 -4.736606e-16 4.835693e-01
outer loop
vertex 1.197509e+01 -6.025000e+01 9.062485e+00
vertex 1.197509e+01 -6.387703e+01 9.062485e+00
Expand Down
Loading