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Add iCub 2.5+ models #83

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merged 14 commits into from
Jan 5, 2018
Merged

Add iCub 2.5+ models #83

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32397ca
Add preliminary files for iCub2.5+ model.
fiorisi Dec 11, 2017
417b170
Add iCub2.5+ to CMake list.
fiorisi Dec 11, 2017
d98e1ed
Update CMake to support also the 2-5_plus model.
fiorisi Jan 3, 2018
fd32f8f
Add preliminary files for iCub2.5+ model.
fiorisi Dec 11, 2017
bb53c29
Add iCub2.5+ to CMake list.
fiorisi Dec 11, 2017
2fea458
Update CMake to support also the 2-5_plus model.
fiorisi Jan 3, 2018
19be960
Merge branch 'iCub_2-5_plus' of https://github.com/robotology-playgro…
fiorisi Jan 4, 2018
165f521
Add iCub 2.5+ models to the table.
fiorisi Jan 4, 2018
6be5bdd
Correct the variables definition.
fiorisi Jan 4, 2018
340f43d
Remove old files.
fiorisi Jan 4, 2018
3526a17
Add custom epsilon parameter.
fiorisi Jan 5, 2018
89da04b
Correct the iCub model name.
fiorisi Jan 5, 2018
4b728a0
Update the variable names and sensor type.
fiorisi Jan 5, 2018
b18859b
Add configuration file for xsens IMU.
fiorisi Jan 5, 2018
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26 changes: 14 additions & 12 deletions README.md
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Expand Up @@ -27,15 +27,17 @@ Both generation pipelines are still in `a work in progress` state, and several i

## Generated models

| `YARP_ROBOT_NAME` | Pipeline | Notes |
|:-----------------:|:------------:|:---------------------:|
| `iCubDarmstadt01` | simmechanics | v2.5 without backpack |
| `iCubGazeboV2_5` | 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 |
| `iCubGenova03` | dh | v2 with legs v1 and feet v2.5 |
| `iCubGenova04` | simmechanics | v2.5 with backpack |
| `iCubLisboa01` | dh | v1 with head v2 |
| `iCubNancy01` | dh | v2.5 with arms v1 and head v2|
| `iCubParis01` | dh | v1 with feet v2.5 |
| `iCubParis02` | dh | v2 with feet v2.5 |
| `YARP_ROBOT_NAME` | Pipeline | Notes |
|:--------------------:|:------------:|:-------------------------------:|
| `iCubDarmstadt01` | simmechanics | v2.5 without backpack |
| `iCubGazeboV2_5` | simmechanics | v2.5 with backpack, and inertias of some links modified to run smoothly in Gazebo |
| `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 |
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Given that "plus" variant has been implemented only on iCubGenova04, would it make sense to have iCubGenova04_plus instead of iCubGenova02_plus?

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@fiorisi fiorisi Jan 5, 2018 •
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Corrected. Thanks!

| `iCubGenova03` | dh | v2 with legs v1 and feet v2.5 |
| `iCubGenova04` | simmechanics | v2.5 with backpack |
| `iCubLisboa01` | dh | v1 with head v2 |
| `iCubNancy01` | dh | v2.5 with arms v1 and head v2 |
| `iCubParis01` | dh | v1 with feet v2.5 |
| `iCubParis02` | dh | v2 with feet v2.5 |
111 changes: 93 additions & 18 deletions simmechanics/CMakeLists.txt
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Expand Up @@ -3,8 +3,8 @@ find_package(PythonInterp REQUIRED)
# Generate URDF models for
# v2.5 robots using the simmechanics-to-urdf script
macro(generate_icub_simmechanics)
set(options NO_BACKPACK BOGUS INCREASE_INERTIA_FOR_GAZEBO)
set(oneValueArgs YARP_ROBOT_NAME SIMMECHANICS_XML YAML_TEMPLATE CSV)
set(options NO_BACKPACK BOGUS INCREASE_INERTIA_FOR_GAZEBO ICUB_PLUS)
set(oneValueArgs YARP_ROBOT_NAME SIMMECHANICS_XML YAML_TEMPLATE CSV_TEMPLATE)
set(multiValueArgs)
cmake_parse_arguments(GIVTWO "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})

Expand Down Expand Up @@ -93,28 +93,96 @@ macro(generate_icub_simmechanics)
else()
set(GAZEBO_ASSIGNED_INERTIAS "")
endif()

# If we are generating the icub2.5+ model we need to add the xsens IMU, change the mesh folder
# and change the rotation axis list that need to be reversed.
if(GIVTWO_ICUB_PLUS)
set(MESH_FOLDER "filenameformatchangeext: \"package://iCub/meshes/simmechanics/2-5_plus/%s-binary.stl\"")
set(ANKLE_PITCH_ROM "-50,20")
set(CUSTOM_EPSILON "epsilon: 2e-7")
set(XSENS_IMU_FRAME
" - frameName: SCSYS_ROOT_LINK_XSENS_IMU
frameReferenceLink: root_link
exportedFrameName: root_link_imu_frame
")
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Since we now have 2 IMUs, could we rename the previous "imu_frame" in the head to "head_imu_frame"?

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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.

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

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@traversaro traversaro Jan 5, 2018 •
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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.

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@diegoferigo diegoferigo Jan 5, 2018 •
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This would also affect all our controllers that should be updated accordingly @gabrielenava
@S-Dafarra

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

set(XSENS_IMU_SENSOR
" - frameName: SCSYS_ROOT_LINK_XSENS_IMU
linkName: root_link
exportFrameInURDF: No
sensorName: root_link_xsens_imu
sensorType: \"imu\"
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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"

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I agree with nuno on this.

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Updated!

updateRate: \"400\"
sensorBlobs:
- |
<plugin name=\"root_link_xsens_imu_plugin\" filename=\"libgazebo_yarp_imu.so\">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
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@nunoguedelha do we need also an additional configuration file for the new IMU?
E.g. gazebo_icub_xsens_inertial.ini

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Yes, good catch.

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Yes, considering that the parameters will be different:

  • period: 10ms -> 2.5ms (because of the rate change to 400Hz)
  • different yarp port name

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Thanks, updated!

</plugin>
")
set(REVERSE_ROTATION_AXIS
"reverseRotationAxis:
l_shoulder_roll
l_elbow
l_hip_yaw
l_knee
l_ankle_pitch
l_hip_pitch
r_ankle_roll
r_shoulder_pitch
r_shoulder_yaw
r_elbow
r_wrist_prosup
torso_pitch
neck_roll
")
else()
set(MESH_FOLDER "filenameformatchangeext: \"package://iCub/meshes/simmechanics/%s-binary.stl\"")
set(ANKLE_PITCH_ROM "-35,35")
set(CUSTOM_EPSILON "")
set(XSENS_IMU_FRAME "")
set(XSENS_IMU_SENSOR "")
set(REVERSE_ROTATION_AXIS
"reverseRotationAxis:
l_shoulder_roll
l_elbow
l_hip_yaw
l_knee
l_ankle_pitch
r_hip_pitch
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Why is r_hip_pitch inverted instead of l_hip_pitch?

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

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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.

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Ok.

r_ankle_roll
r_shoulder_pitch
r_shoulder_yaw
r_elbow
r_wrist_prosup
torso_pitch
neck_roll
")
endif()

set(GENERATED_YAML_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${GIVTWO_YARP_ROBOT_NAME}.yaml)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_YAML_TEMPLATE}
${GENERATED_YAML_LOCATION}
@ONLY)
set(GENERATED_CSV_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${GIVTWO_YARP_ROBOT_NAME}.csv)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_CSV_TEMPLATE}
${GENERATED_CSV_LOCATION}
@ONLY)

add_custom_command(OUTPUT ${GIVTWO_YARP_ROBOT_NAME}.urdf
COMMAND simmechanics_to_urdf
ARGS ${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_SIMMECHANICS_XML}
--output xml
--yaml ${GENERATED_YAML_LOCATION}
--csv-joints ${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_CSV}
--csv-joints ${GENERATED_CSV_LOCATION}
--outputfile ${GIVTWO_YARP_ROBOT_NAME}.urdf
MAIN_DEPENDENCY "${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_SIMMECHANICS_XML}"
DEPENDS "${GENERATED_YAML_LOCATION}"
"${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_CSV}")
"${GENERATED_CSV_LOCATION}")



# If we are generating a model without backpack, we need to tweack the COM of the chest link,
# and we have a custon python script for this
# If we are generating a model without backpack, we need to tweak the COM of the chest link,
# and we have a custom python script for this
if(${GIVTWO_NO_BACKPACK})
# instead of just copyng, we also modify the com on the fly
# instead of just copying, we also modify the com on the fly
add_custom_command(OUTPUT "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf"
MAIN_DEPENDENCY "${GIVTWO_YARP_ROBOT_NAME}.urdf"
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/adjust_com_for_model_without_backpack.py
Expand All @@ -134,29 +202,41 @@ set(model-simmechanics-generated-models "")
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_5
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
INCREASE_INERTIA_FOR_GAZEBO)

generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_5_plus
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"
INCREASE_INERTIA_FOR_GAZEBO ICUB_PLUS)

generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova02_plus
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"
ICUB_PLUS)

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

generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova04
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv")
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in")

generate_icub_simmechanics(YARP_ROBOT_NAME iCubDarmstadt01
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
NO_BACKPACK)

generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova01
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
NO_BACKPACK)

add_custom_target(generate-models-simmechanics
Expand All @@ -169,8 +249,3 @@ add_custom_command(TARGET generate-models-simmechanics
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes"
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf"
COMMENT "Copying Simmechanics meshes")





4 changes: 2 additions & 2 deletions .../icub2_5/ICUB_2-5_BB_joint_parameters.csv → ...ub2_5/ICUB_2-5_BB_joint_parameters.csv.in
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Expand Up @@ -6,13 +6,13 @@ r_hip_pitch,-45,134,0.223,0,5.1,55.5
r_hip_roll,-20,120,0.223,0,7.64,37
r_hip_yaw,-80,80,0.223,0,7.64,37
r_knee,-124,4,0.223,0,7.64,37
r_ankle_pitch,-35,35,0.223,0,7.64,37
r_ankle_pitch,@ANKLE_PITCH_ROM@,0.223,0,7.64,37
r_ankle_roll,-25,25,0.223,0,7.64,37
l_hip_pitch,-45,134,0.223,0,5.1,55.5
l_hip_roll,-20,120,0.223,0,7.64,37
l_hip_yaw,-80,80,0.223,0,7.64,37
l_knee,-124,4,0.223,0,7.64,37
l_ankle_pitch,-35,35,0.223,0,7.64,37
l_ankle_pitch,@ANKLE_PITCH_ROM@,0.223,0,7.64,37
l_ankle_roll,-25,25,0.223,0,7.64,37
r_shoulder_pitch,-95.5,10,0.06,0,,
r_shoulder_roll,0,160.8,0.06,0,,
Expand Down
23 changes: 7 additions & 16 deletions simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
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Expand Up @@ -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@
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I would actually call this @MESH_FILE_FORMAT@ instead.

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Yes, better!


# Custom epsilon for testing whether a number is close to zero
@CUSTOM_EPSILON@

# Rename options (map Creo names to URDF names)
rename:
Expand Down Expand Up @@ -393,7 +396,7 @@ exportedFrames:
- frameName: SCSYS_R_LOWER_LEG_SKIN_21
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_21

@XSENS_IMU_FRAME@


linkFrames:
Expand Down Expand Up @@ -768,23 +771,11 @@ sensors:
linkName: l_foot
sensorName: l_foot_mtb_acc_10b13
sensorType: "accelerometer"
@XSENS_IMU_SENSOR@


# Workaround options
reverseRotationAxis:
l_shoulder_roll
l_elbow
l_hip_yaw
l_knee
l_ankle_pitch
r_hip_pitch
r_ankle_roll
r_shoulder_pitch
r_shoulder_yaw
r_elbow
r_wrist_prosup
torso_pitch
neck_roll
@REVERSE_ROTATION_AXIS@


assignedMasses:
Expand Down
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