Add iCub 2.5+ models #83

fiorisi · 2018-01-05T11:53:52Z

Added iCub2.5+ models: for Gazebo and a model for iCubGenova04_plus.

…und/icub-model-generator into iCub_2-5_plus

traversaro · 2018-01-05T12:18:42Z

README.md

+| `iCubGazeboV2_5_plus`| simmechanics | v2.5+ with backpack, and inertias of some links modified to run smoothly in Gazebo | 
+| `iCubGenova01`       | simmechanics | v2.5 without backpack           | 
+| `iCubGenova02`       | simmechanics | v2.5   with backpack            | 
+| `iCubGenova02_plus`  | simmechanics | v2.5+   with backpack           |


Given that "plus" variant has been implemented only on iCubGenova04, would it make sense to have iCubGenova04_plus instead of iCubGenova02_plus?

Corrected. Thanks!

traversaro · 2018-01-05T12:21:20Z

Not related to this PR as I just noticed that it also applies to the existing mesh https://github.com/robotology-playground/icub-model-generator/blob/master/simmechanics/data/icub2_5/meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl , but I never noticed that in this meshes the iCub head has no left ear!

fiorisi · 2018-01-05T12:35:13Z

I guess that there is a problem with the surfaces of the left ear, probably are not "closed". I can check.

traversaro · 2018-01-05T12:36:52Z

Ok, anyway it is not related to the PR, I just approved it!

nunoguedelha · 2018-01-05T12:53:23Z

Hi @fiorisi, Please don't merge yet, I'm still reviewing...

A quick question, this new model is for the new ankle tilt and the XSENS IMU on the root link. Is it for any other change on the meshes? Is there any open issue or place with the a description of the changes?

nunoguedelha · 2018-01-05T13:17:03Z

simmechanics/CMakeLists.txt

+"  - frameName: SCSYS_ROOT_LINK_XSENS_IMU
+    frameReferenceLink: root_link
+    exportedFrameName: root_link_imu_frame
+")


Since we now have 2 IMUs, could we rename the previous "imu_frame" in the head to "head_imu_frame"?

Yes, we can do it. I am not sure if then we need to update also some other configuration files (e.g. wbd). If you think that is easy and quick we can change the name of the head imu as you suggest.

I think there a small impact in iDynTree, quite easy to implement, I let @traversaro confirm...

We would need to either have different wbd configuration files for iCub*** and iCub***_plus, or update the frame name for all the models. To be honest, I am a bit afraid about this small changes that may have unexpected consequences, so I would open a different PR for changing the imu_frame frame.

This would also affect all our controllers that should be updated accordingly @gabrielenava
@S-Dafarra

Thanks @diegoferigo, as suggested by @traversaro we don't change the imu name in this PR. We can open a new one.

nunoguedelha · 2018-01-05T13:43:48Z

simmechanics/CMakeLists.txt

+    linkName: root_link
+    exportFrameInURDF: No
+    sensorName: root_link_xsens_imu
+    sensorType: \"imu\"


Actually, while the additional frame (@XSENS_IMU_FRAME@) exported for the IMU is required for the dynamic computations in iDynTree, the IMU itself is not considered as a URDF-like "sensor" as per the description in https://github.com/robotology/idyntree/blob/master/doc/model_loading.md and doesn't require an entry in the "sensor" tag section. The following entry...

- frameName: SCSYS_HEAD_MTX_IMU linkName: head sensorName: head_imu_acc_1x1 sensorType: "accelerometer" ...

was already there and was intended to provide information on the accelerometers embedded in the head IMU. those information were used for the sensor measurement prediction computation in iDynTree.

This said, we should have for the root_link IMU:

sensorName: root_link_imu_acc sensorType: "accelerometer"

I agree with nuno on this.

nunoguedelha · 2018-01-05T13:56:59Z

simmechanics/CMakeLists.txt

+  l_hip_yaw
+  l_knee
+  l_ankle_pitch
+  r_hip_pitch


Why is r_hip_pitch inverted instead of l_hip_pitch?

The axis that are inverted are magically changing whenever we change the Creo model. 😕

This comes from the CAD model. In theory, it is possible to control the orientation of the axis but is not practical. It is easier to perform the change in the YAML file. Probably, since the upper body is the same for the iCub2.5 and iCub2.5+ we can change only the leg axis.

nunoguedelha · 2018-01-05T14:08:20Z

simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in

@@ -8,7 +8,10 @@ originRPY: [0.0,0.0,3.14]
 # Meshes options
 scale: "0.001 0.001 0.001"
 forcelowercase: Yes
-filenameformatchangeext: "package://iCub/meshes/simmechanics/%s-binary.stl"
+@MESH_FOLDER@


I would actually call this @MESH_FILE_FORMAT@ instead.

Yes, better!

nunoguedelha

I've requested small changes. Please refer to the individual comments.

fiorisi · 2018-01-05T15:16:12Z

simmechanics/CMakeLists.txt

+    sensorBlobs:
+    - |
+        <plugin name=\"root_link_xsens_imu_plugin\" filename=\"libgazebo_yarp_imu.so\">
+            <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>


@nunoguedelha do we need also an additional configuration file for the new IMU?
E.g. gazebo_icub_xsens_inertial.ini

Yes, good catch.

Yes, considering that the parameters will be different:

period: 10ms -> 2.5ms (because of the rate change to 400Hz)

different yarp port name

Thanks, updated!

fiorisi · 2018-01-05T15:21:46Z

Thanks @nunoguedelha, I modified the files as you suggested. Can you have a look at my comment about the configuration file?
Yes, the differences are the additional IMU on the waist and the RoM of the ankle_pitch joints.
At the moment there is no issue that describes all the hardware modifications. We should find a place where write the differences.

fiorisi added 11 commits December 11, 2017 10:44

Add preliminary files for iCub2.5+ model.

32397ca

Add iCub2.5+ to CMake list.

417b170

Update CMake to support also the 2-5_plus model.

d98e1ed

Add preliminary files for iCub2.5+ model.

fd32f8f

Add iCub2.5+ to CMake list.

bb53c29

Update CMake to support also the 2-5_plus model.

2fea458

Merge branch 'iCub_2-5_plus' of https://github.com/robotology-playgro…

19be960

…und/icub-model-generator into iCub_2-5_plus

Add iCub 2.5+ models to the table.

165f521

Correct the variables definition.

6be5bdd

Remove old files.

340f43d

Add custom epsilon parameter.

3526a17

fiorisi requested review from traversaro, nunoguedelha and diegoferigo January 5, 2018 11:54

traversaro reviewed Jan 5, 2018

View reviewed changes

Correct the iCub model name.

89da04b

traversaro approved these changes Jan 5, 2018

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nunoguedelha reviewed Jan 5, 2018

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nunoguedelha suggested changes Jan 5, 2018

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fiorisi commented Jan 5, 2018

View reviewed changes

Update the variable names and sensor type.

4b728a0

Add configuration file for xsens IMU.

b18859b

nunoguedelha mentioned this pull request Jan 5, 2018

CMakeLists.txt cluttered with option parameters #84

Open

nunoguedelha approved these changes Jan 5, 2018

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fiorisi merged commit fb172db into master Jan 5, 2018

fiorisi deleted the iCub_2-5_plus branch January 5, 2018 17:06

traversaro mentioned this pull request Sep 7, 2018

Add model for iCubGenova02 plus. #106

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Add iCub 2.5+ models #83

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Add iCub 2.5+ models #83

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