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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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Provide models corresponding to specific versions of iCub #26

Open traversaro opened 4 years ago

traversaro commented 4 years ago

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 a iCubV2_5 is the iCubGenova04.

traversaro commented 3 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 .

traversaro commented 3 years ago

However, we now have:

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.