Open traversaro opened 4 years ago
At this moment (early 2020) a model that matches a iCubV2_5 is the iCubGenova04.
That is false. The iCubGenova04 is a 2.5.5 with an additional high performance Xsens IMU in the waist backported from iCub 2.7 .
However, we now have:
iCubGazeboV2_5
iCubGazeboV2_6
iCubGazeboV2_7
iCubGazeboV3
Beside the fact that I just realized that the iCubGazeboV2_5
always had the backpack (see https://github.com/robotology/icub-models/blob/master/iCub/meshes/simmechanics/sim_sea_2-5_chest_bb_prt-binary.stl) and so according to https://icub-tech-iit.github.io/documentation/icub_versions/ should actually be named iCubGazeboV2_5_5
, I think what is described in this issue is close to be realized. If we just added the iCubV2_5
without gazebo-specific modifications, I think we could close this issue.
Currently the icub-models repo contains models of specific physical iCub used around the world (iCub), but for some uses cases it would be useful to have a model of a iCub with a given version (for example, the latest version would be
iCubV2_5
) ignoring the specific changes of the different physical iCubs,We already have something similar to this with the
iCubGazeboV2_5
model that is indeed a canonical 2.5 robot, but at the moment that robot contains some inertia that have been artificially increased with respect to their nominal value to permit simulation with the default physics engine (ODE) and settings of Classic Gazebo. At this moment (early 2020) a model that matches aiCubV2_5
is the iCubGenova04.