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robotology / gym-ignition-models

Collection of robot models compatible with gym-ignition
https://github.com/robotology/gym-ignition
GNU Lesser General Public License v3.0
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Add character model #11

Closed diegoferigo closed 4 years ago

diegoferigo commented 4 years ago

This model is based on the DeepMimic's humanoid. In particular, it is equivalent to the custom humanoid3d.txt.

The original model is not an URDF and it uses spherical joints (not supported by URDF). In our model, instead, spherical joints are converted to a sequence of three revolute joints by adding fake links and joints. The geometry and inertial parameters match the original model.

character

traversaro commented 4 years ago

It is a bit of gray area, but I suggest not do strip away the attribution and the MIT license of DeepMimic (even because because, attribution aside, it is quite light on requirements).

diegoferigo commented 4 years ago

Good point @traversaro. I agree that this is a grey area. Where do you think we should add this information? Note that what I took from DeepMimic is only the model geometry and inertial parameters. Then, I developed a Python script to generate an urdf model out from these data.

traversaro commented 4 years ago

Where do you think we should add this information?

Either a comment on the top of the URDF file or model.config file, or as part of a model-specific README, but apparently we don't have that, so I guess either URDF or model.config would be ok.

traversaro commented 4 years ago

Note that what I took from DeepMimic is only the model geometry and inertial parameters. Then, I developed a Python script to generate an urdf model out from these data.

Yes, this is a gray area but I think that copyright should hold regardless of the conversions. Think for example of an image of a painting: even if the original image is in png and you wrote a script to convert it in jpeg, the copyright of the image still holds for the jpeg version.

diegoferigo commented 4 years ago

Yes, this is a gray area but I think that copyright should hold regardless of the conversions. Think for example of an image of a painting: even if the original image is in png and you wrote a script to convert it in jpeg, the copyright of the image still holds for the jpeg version.

Same result, different description. In this case it's an equivalent description (no spherical joints), but agreed.

Either a comment on the top of the URDF file or model.config file, or as part of a model-specific README, but apparently we don't have that, so I guess either URDF or model.config would be ok.

I will use the model URDF since that is the file that typically users open :) Thanks for the input!

diegoferigo commented 4 years ago

@traversaro Can you please provide a feedback about https://github.com/dic-iit/gym-ignition-models/pull/11/commits/fc992087fac407dedf24ad7012780846e58dab4c? I know it's a grey area, just asking an additional confirmation :)

traversaro commented 4 years ago

@traversaro Can you please provide a feedback about fc99208? I know it's a grey area, just asking an additional confirmation :)

I would at least put a link to the original repo.

raffaello-camoriano commented 4 years ago

@traversaro Can you please provide a feedback about fc99208? I know it's a grey area, just asking an additional confirmation :)

I would at least put a link to the original repo.

Maybe also the paper.