Changelog

All notable changes to this project will be documented in this file.

The format of this document is based on Keep a Changelog.

[Unreleased]

[2.0.0] - 2023-03-08

Fixed

Make models compatible with the YARP 3.8 (robotology#171, robotology#188, robotology/icub-models-generator#231).
Fix incompatibility between RViz2 and iCubGazeboV3 model ( robotology/icub-models-generator#229 ).
Uniform IMUs sensor names (robotology/icub-models-generator#235).
Add partial support to expose sensor data of iCubGazeboV3 on ROS2 (robotology/icub-models-generator#228).

[1.26.0] - 2022-12-09

Changed

Export frames in urdf for the sensors (imu and Ft sensors) (robotology/icub-models-generator#227).
Migrate iCub3 models to use gazebo_yarp_robotinterface plugin (robotology/icub-models-generator#222).

Fixed

Fix finding the iCub package in ROS2 (robotology#178).

[1.25.0] - 2022-08-23

Changed

Update iCub3 model with new weight, add FT on left leg, increase shoulder pitch limits (robotology/icub-models-generator#223).
iCub3: Decrease limit of hip roll after installation of hard stop on robot (robotology/icub-models-generator#224).

[1.24.1] - 2022-06-08

Fixed

Fix r_wrist_yaw joint direction in several iCub 2.* models (robotology#156, robotology/icub-models-generator#220).

[1.24.0] - 2022-05-31

Fixed

New tuned pidParams for icub3 gazebo model for walking simulations (robotology/icub-models-generator#219).

[1.23.4] - 2022-05-06

Fixed

Make the C++ helper library more robust to system that automatically make the library relocatable such as conda (robotology#154).

[1.23.3] - 2022-04-08

Fixed

In Python helper library, fix the get_models_path() when the icub_models package is installed with the robotology-superbuild (robotology#149, robotology#150).
Fix the PYTHON_ABSOLUTE_INSTDIR when a relative PYTHON_INSTDIR is detected (robotology#150)

[1.23.2] - 2022-03-31

Fixed

Fix CMake configuration if Python library installation is enabled (robotology#146).

[1.23.1] - 2022-03-30

Changed

The python module icub_models is now implemented in pure python. This removes the pybind11 dependency (robotology#143)

[1.23.0] - 2022-02-28

Added

Implement a machinery to easily access model locations on C++ and Python (robotology#130)

Changed

All Gazebo models installed by icub-models are in SDF format version 1.7. This means that Gazebo >= 11 is required to load them (robotology#130).
iCub3 models (iCubGenova09 and iCubGazeboV3) now have an FT sensor installed in the right upper leg (robotology/icub-models-generator#218)
The URDF colors of models is not random anymore (robotology/icub-models-generator#217).

Fixed

Fix missing velocityControlImplementationType parameter in left_wrist_mk2 (robotology/icub-models-generator#213).
Fix r_wrist_yaw of icub3 generated as continous joint (robotology/icub-models-generator#214)

[1.22.1] - 2021-12-04

Fixed

Fix bug in iCub3 models that made r_wrist_yaw a continuous joint (robotology/icub-models-generator#214).
Fix compatibility of left_wrist_mk2 with gazebo-yarp-plugins 4 (robotology/icub-models-generator#213).

[1.22.0] - 2021-11-12

Changed

Update iCub3 with feet covers (robotology/icub-models-generator#210).
Increase metacarpus joint limit of MK3 left hand's thumb (robotology/icub-models-generator#211).

Fixed

Fixed compatibility of all iCub3 models with gazebo-yarp-plugins 4 (robotology/icub-models-generator#21).

[1.21.1] - 2021-09-03

Fixed

Fixed document on the use of AMENT_PREFIX_PATH environment variable (robotology#101).
Fixed wrong default collision on the arms that slowed down Gazebo Classic simulation for iCub3 models (robotology#100, robotology/icub-models-generator#208).

[1.21.0] - 2021-08-27

Added

The hand_mk3 and wrist_mk2 containing the new version of iCub's hand and wrist, codenamed iCub hand Mk3 and iCub wrist Mk2, have been added to the repo. As this models are still in development, they could change in the future (robotology/icub-models-generator#203, robotology#95).

Changed

The iCub3 models (iCubGenova09 and iCubGazeboV3) have been updated with the new arm covers (robotology/icub-models-generator#202).

Fixed

The masses of iCub3 models (iCubGenova09 and iCubGazeboV3) have been fixed to be more similar to the one of the real robot (robotology/icub-models-generator#207).

[1.20.0] - 2021-05-30

Changed

The gains and damping parameters of iCubGazeboV3 have been changed (robotology/icub-models-generator#199).

[1.19.0] - 2021-02-24

Added

Added documentation to use the models in ROS2 (robotology#82).
Added model for the iCubErzelli02 robot (robotology/icub-models-generator#195).

Fixed

Fixed the license tag in the package.xml for use the models in ROS/ROS2 (robotology#78).
Fixed several issues and problems with the iCubGenova09/iCubGazeboV3 model (robotology/icub-models-generator#194, robotology/icub-models-generator#193, robotology/icub-models-generator#189, robotology/icub-models-generator#187).

[1.18.1] - 2020-11-30

Fixed

Fix the direction of some axis for the iCub3 models (robotology/icub-models-generator#184).

[1.18.0] - 2020-11-30

Added

Added first URDF model for the iCub3, namely the iCubGazeboV3 with inertia modified to run in Gazebo Classic, and iCubGenova09 for control of the real robot. As the development of this model is an ongoing activity, interested users are suggested to keep in sync with the updates that will happen in the devel branch.

Changed

The base_link massless link is now a child of the root_link link instead of being a parent. This has the effect that now when the URDF model of iCub is imported in Gazebo, after fixed joint lumping the link corresponding to the robot waist will be root_link, instead of base_link. This means that when the iCub model is included in a nested model, the joint to connect it to the rest of the model should refer to iCub::root_link instead of iCub::base_link (robotology/icub-models-generator#142, robotology/icub-models-generator#140 (comment)).