Automatic sanity checks to add

robotology / icub-models-generator

Resources and programs to generated models (URDF, SDF) of the iCub robot

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Open traversaro opened 3 years ago

traversaro commented 3 years ago

[ ] Easy: Verify that all the joint are either of type fixed or revolute (to avoid regression such as https://github.com/robotology/icub-models/issues/72)
[ ] Hard: Verify that the models meant to run in Gazebo can be spawned and not explode

traversaro commented 3 years ago

[ ] Easy: Check simmechancis file for failures of the type "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_REAR because of CAD constraint"

traversaro commented 3 years ago

[ ] Easy: Verify that all the joint are either of type fixed or revolute (to avoid regression such as robotology/icub-models#72)

traversaro commented 3 years ago

Another useful sanity check would be to check that the total weight of the model (that you can get from iDynTree::Model::getTotalMass() ) and check that its difference w.r.t. to the measured one is below a threshold. This would avoid regression such as https://github.com/robotology/icub-models/issues/94 . fyi @maggia80 @DanielePucci