[iCubGazeboV3] Change feet collision meshes to simplified geometry #66

prashanthr05 · 2020-11-05T10:47:06Z

I am trying to change the feet meshes to replace it with simplified geometry.

I got the bounding box for the feet from MeshLab as,

l_foot_front	l_foot_rear	r_foot_front	r_foot_rear

They all have the same dimensions and are in mm (I believe!).

However, in the URDF there seems to be a scale option for the mesh that scales the mesh's axis-aligned-bounding-box, according to http://wiki.ros.org/urdf/XML/link. There's no further explanation.

      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>

I believe the scale is simply a unit conversion from millimeters to meters.

So I made the changes only to the collision part of the feet as

    <collision>
      <origin xyz="0.010700000000000012 -0.06475000000001183 0.9464469999999995" rpy="0 0 -1.5707963267948966"/>
<!--      
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>
-->
      <geometry>
        <box size="0.1 0.117 0.010299988"/>
      </geometry>
    </collision>

But looks like, there's something I am missing here, which can be seen as soon as we load the model,

Anyone's got advice/prior experience on this?
cc @nunoguedelha @traversaro @S-Dafarra @GiulioRomualdi

The text was updated successfully, but these errors were encountered:

S-Dafarra · 2020-11-05T10:52:10Z

I guess this is what is done on iCub2.5

icub-models/iCub/robots/iCubGazeboV2_5/model.urdf

Lines 527 to 532 in 05e4e60

    
           <collision> 
        
             <origin xyz="0.03 0.005 0.014" rpy="0.0 0.0 0.0"/> 
        
             <geometry> 
        
               <box size="0.16 0.072 0.001"/> 
        
             </geometry> 
        
           </collision>

Can you provide a link to your modifications?

prashanthr05 · 2020-11-05T10:55:17Z

Can you provide a link to your modifications?

I have it here for the time being.

prashanthr05 · 2020-11-05T10:57:28Z

Looks like the origin for the collision geometry was modified in

icub-models/iCub/robots/iCubGazeboV2_5/model.urdf

Lines 527 to 532 in 05e4e60

    
           <collision> 
        
             <origin xyz="0.03 0.005 0.014" rpy="0.0 0.0 0.0"/> 
        
             <geometry> 
        
               <box size="0.16 0.072 0.001"/> 
        
             </geometry> 
        
           </collision>

I hope this was not done by trial-and-error?

S-Dafarra · 2020-11-05T11:00:58Z

Can you try to put the robot fixed in the air and visualize the collisions?

traversaro · 2020-11-05T13:06:43Z

I hope this was not done by trial-and-error?

This is specified in https://github.com/robotology/icub-model-generator/blob/master/simmechanics/CMakeLists.txt#L97 that was added in robotology/icub-models-generator#85 .

traversaro · 2020-11-05T13:28:42Z

To simplify the debug, I strong suggest to temporary disabled the visual meshes, so you would see just simplified mesh that you add. For the dimension of the box and the placement, I suggest to use as a reference the location of the l_sole frames, as I imagine was done for iCub 2.5 .

prashanthr05 · 2020-11-05T13:39:48Z

I hope this was not done by trial-and-error?

This is specified in https://github.com/robotology/icub-model-generator/blob/master/simmechanics/CMakeLists.txt#L97 that was added in robotology/icub-model-generator#85 .

I was wondering about the choice and source of the values in

icub-models/iCub/robots/iCubGazeboV2_5/model.urdf

Line 528 in 05e4e60

which is different from,

icub-models/iCub/robots/iCubGazeboV2_5/model.urdf

Line 519 in 05e4e60

    
           <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>

but seems to be the same as,

https://github.com/robotology/icub-model-generator/blob/5f1ccfe8031fa2bbcd341c83fd85a10a93b381bf/simmechanics/CMakeLists.txt#L116

traversaro · 2020-11-05T13:46:56Z

icub-models/iCub/robots/iCubGazeboV2_5/model.urdf

Line 528 in 05e4e60

<origin xyz="0.03 0.005 0.014" rpy="0.0 0.0 0.0"/>

which is different from,

icub-models/iCub/robots/iCubGazeboV2_5/model.urdf

Line 519 in 05e4e60

<origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>

Why they should be similar? The origin of the box is placed in the center of the box (see http://wiki.ros.org/urdf/XML/link) while the origin of the visual mesh is arbitrary.

prashanthr05 · 2020-11-06T09:18:07Z

To simplify the debug, I strong suggest to temporary disabled the visual meshes, so you would see just simplified mesh that you add. For the dimension of the box and the placement, I suggest to use as a reference the location of the l_sole frames, as I imagine was done for iCub 2.5 .

I read this only now. Understood.

prashanthr05 · 2020-11-06T10:55:13Z

With @FabioBergonti, we modified the visual and collision geometries for all the feet links using data from the CAD,

  <link name="r_foot_front">
   ...
    <visual>
      <origin xyz="0.0 0.0 0.003" rpy="0 0 0"/>
      <geometry>
        <box size="0.117 0.100 0.006"/>
      </geometry>
      ...
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.003" rpy="0 0 0"/>
      <geometry>
        <box size="0.117 0.100 0.006"/>
      </geometry>
    </collision>
  </link>

On loading the model, we see

View 1	View 2

S-Dafarra · 2020-11-06T11:33:00Z

Great @prashanthr05! From the gif it seems a little tilted. Is it only my impression? You can also try to use the fixed version to look at the feet from below

prashanthr05 · 2020-11-06T11:44:03Z

Great @prashanthr05! From the gif it seems a little tilted. Is it only my impression? You can also try to use the fixed version to look at the feet from below

It is indeed tilted because of my poor camera skills ;D.

I tried loading the fixed version in vain. It keeps falling to the ground.
The SDF format seems to be the same as fixed models in icub-gazebo, while those in icub-gazebo remain fixed, instead those in icub-models don't. Is it just me who is facing this?

traversaro · 2020-11-06T11:45:40Z

This seems to be related to the base_link / root_link change .

prashanthr05 · 2020-11-06T11:46:54Z

This seems to be related to the base_link / root_link change .

Wow, such a memory! I am going to check this. Thanks, @traversaro !

prashanthr05 · 2020-11-06T11:49:53Z

I tried loading the fixed version in vain. It keeps falling to the ground.
The SDF format seems to be the same as fixed models in icub-gazebo, while those in icub-gazebo remain fixed, instead those in icub-models don't. Is it just me who is facing this?

This seems to be related to the base_link / root_link change .

I confirm. Changing the fixed joint child from base_link to root_link, makes it work.

    <joint name="fixed_base" type="fixed">
      <parent>world</parent>
      <child>iCub::root_link</child>
    </joint>

prashanthr05 · 2020-11-06T12:01:30Z

With the fixed model,

View 1	View 2	View 3

prashanthr05 · 2020-11-06T12:08:10Z

I will open relevant PRs in the icub-model-generator.

prashanthr05 · 2020-11-06T12:52:09Z

I tried loading the fixed version in vain. It keeps falling to the ground.
The SDF format seems to be the same as fixed models in icub-gazebo, while those in icub-gazebo remain fixed, instead those in icub-models don't. Is it just me who is facing this?

This seems to be related to the base_link / root_link change .

I confirm. Changing the fixed joint child from base_link to root_link, makes it work.
    <joint name="fixed_base" type="fixed">
      <parent>world</parent>
      <child>iCub::root_link</child>
    </joint>

This has already been done in #59.

S-Dafarra · 2020-11-06T12:53:21Z

Indeed, also to me the old fixed iCubV3 falls down, but the iCubGazeboV3 does not.

prashanthr05 · 2020-11-06T17:14:47Z

To introduce the changes of assigned collision geometries from here to the URDF model through icub-model-generator, I will list the steps I will follow, please correct me wherever applicable

Introduce an option for ICUB3 in the cmake options here.
Similar to what is done for ICUBPLUS robots of choosing between two collision geometries, I add a conditional block for the ICUBTHREE collision geometries and pass that option to the generate_icub_simmechanics macro.
Further, similar to what is done for ICUB25 models in yaml options I add the relevant @ASSIGNED_COLLISION_GEOMETRIES@ in ICUB_3_all_options_gazebo.yaml.
Which will actually be handled by simmechanics-to-urdf.

S-Dafarra · 2020-11-06T17:27:26Z

To introduce the changes of assigned collision geometries from here to the URDF model through icub-model-generator, I will list the steps I will follow, please correct me wherever applicable

Introduce an option for ICUB3 in the cmake options here.

Similar to what is done for ICUBPLUS robots of choosing between two collision geometries, I add a conditional block for the ICUBTHREE collision geometries and pass that option to the generate_icub_simmechanics macro.

Further, similar to what is done for ICUB25 models in yaml options I add the relevant @ASSIGNED_COLLISION_GEOMETRIES@ in ICUB_3_all_options_gazebo.yaml.
Which will actually be handled by simmechanics-to-urdf.

@pattacini @Nicogene what do you think?

prashanthr05 · 2020-11-06T18:16:22Z

Tested locally with changes made in prashanthr05/icub-model-generator@d151943 and prashanthr05/icub-model-generator@8d08a83

The diff between the files with the introduced option and without (changes for all the foot_rear/front links),

<       <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
---
>       <origin xyz="0.010700000000000012 -0.06475000000001183 0.9464469999999995" rpy="0 0 -1.57079632679"/>
250c250
<         <box size="0.117 0.1 0.006"/>
---
>         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
283c283
<       <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
---
>       <origin xyz="-0.10854999999999998 -0.06475000000001183 0.9464469999999995" rpy="0 0 -1.57079632679"/>
285c285
<         <box size="0.117 0.1 0.006"/>
---
>         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
1202c1202
<       <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
---
>       <origin xyz="-0.10850000000000011 0.06484999999993908 0.9464470000000105" rpy="0 0 -1.57079632679"/>
1204c1204
<         <box size="0.117 0.1 0.006"/>
---
>         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
1230c1230
<       <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
---
>       <origin xyz="0.010749999999999881 0.0648499999999391 0.9464470000000105" rpy="0 0 -1.57079632679"/>
1232c1232
<         <box size="0.117 0.1 0.006"/>
---
>         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>

P.S. I had to test by disabling GENERATE_DH_MODELS and tests. See robotology/icub-models-generator#161 and robotology/icub-models-generator#159

cc @traversaro

traversaro · 2020-11-06T18:18:43Z

P.S. I had to test by disabling GENERATE_DH_MODELS and tests. See robotology/icub-models-generator#161 and robotology/icub-models-generator#159

Yes, that is expected.

prashanthr05 · 2020-11-06T20:47:43Z

Given the merge of robotology/icub-models-generator#165, shall we close this issue?

traversaro · 2020-11-06T22:01:36Z

Ok!

prashanthr05 mentioned this issue Nov 6, 2020

Add cmake option to enable use of simplified collision geometry for iCubGazeboV3 robotology/icub-models-generator#165

Merged

prashanthr05 closed this as completed Nov 7, 2020

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

[iCubGazeboV3] Change feet collision meshes to simplified geometry #66

[iCubGazeboV3] Change feet collision meshes to simplified geometry #66

prashanthr05 commented Nov 5, 2020

S-Dafarra commented Nov 5, 2020 •

edited

Loading

prashanthr05 commented Nov 5, 2020

prashanthr05 commented Nov 5, 2020 •

edited

Loading

S-Dafarra commented Nov 5, 2020

traversaro commented Nov 5, 2020

traversaro commented Nov 5, 2020

prashanthr05 commented Nov 5, 2020

traversaro commented Nov 5, 2020

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020 •

edited

Loading

S-Dafarra commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

traversaro commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020 •

edited

Loading

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

S-Dafarra commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

S-Dafarra commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020 •

edited

Loading

traversaro commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

traversaro commented Nov 6, 2020

[iCubGazeboV3] Change feet collision meshes to simplified geometry #66

[iCubGazeboV3] Change feet collision meshes to simplified geometry #66

Comments

prashanthr05 commented Nov 5, 2020

S-Dafarra commented Nov 5, 2020 • edited Loading

prashanthr05 commented Nov 5, 2020

prashanthr05 commented Nov 5, 2020 • edited Loading

S-Dafarra commented Nov 5, 2020

traversaro commented Nov 5, 2020

traversaro commented Nov 5, 2020

prashanthr05 commented Nov 5, 2020

traversaro commented Nov 5, 2020

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020 • edited Loading

S-Dafarra commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

traversaro commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020 • edited Loading

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

S-Dafarra commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

S-Dafarra commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020 • edited Loading

traversaro commented Nov 6, 2020

prashanthr05 commented Nov 6, 2020

traversaro commented Nov 6, 2020

S-Dafarra commented Nov 5, 2020 •

edited

Loading

prashanthr05 commented Nov 5, 2020 •

edited

Loading

prashanthr05 commented Nov 6, 2020 •

edited

Loading

prashanthr05 commented Nov 6, 2020 •

edited

Loading

prashanthr05 commented Nov 6, 2020 •

edited

Loading