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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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iCubGenova09 total mass from urdf model does not match the real robot mass #94

Closed isorrentino closed 3 years ago

isorrentino commented 3 years ago

The iCubGenova09 total mass from the urdf model does not match the real mass of the robot.

Here the one from the urdf model:

idyntree-model-info -m model.urdf --total-mass
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 58.458 Kg.

and here the reality:

image

cc @DanielePucci @GiulioRomualdi @paolo-viceconte @S-Dafarra

DanielePucci commented 3 years ago

CC @fiorisi @traversaro @pattacini @maggia80

pattacini commented 3 years ago

@salvi-mattia we should run a second check on all these weights.

DanielePucci commented 3 years ago

CC @S-Dafarra

traversaro commented 3 years ago

If you want to check which commit introduced the problem, you can run idyntree-model-info --total-mass -m model.urdf for each commit in the history if icub-models to understand at which point in the history the problem was introduced.

For a given icub-models commit, you then can check the corresponding icub-model-generator commit in the commit message, see https://github.com/robotology/icub-models/commit/6d760251473396133daaf75ae7a3b27137da607f . From that, we can understand what caused the regression.

pattacini commented 3 years ago

Very nice feature, indeed!

GiulioRomualdi commented 3 years ago

I wrote this script

#!/bin/bash

RED="\e[31m"
ENDCOLOR="\e[0m"

commits=(`git rev-list --ancestry-path cd4b2a6608cea70d0c455b68e18f414cb0820c0c..6d760251473396133daaf75ae7a3b27137da607f`)
for commit in ${commits[@]}
do
    echo -e "${RED} ${commit} ${ENDCOLOR}"

    git checkout ${commit}
    idyntree-model-info -m model.urdf --total-mass #
done

you should run it inside icub-models/iCub/robots/iCubGenova09. I took the first and last commits from the history of the file https://github.com/robotology/icub-models/commits/master/iCub/robots/iCubGenova09/model.urdf

Here the output 

 6d760251473396133daaf75ae7a3b27137da607f 
Previous HEAD position was 023acfc Automatic build. Travis build:390
HEAD is now at 6d76025 Automatic build. GitHub Actions build: 882676287 icub-model-generator commit: robotology/icub-models-generator@1472a40ae34b0601b82ed0d60406ab3300347e2d urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@1eb31b4e2d86e091c59cbe3cfc62d1e5265d7d61
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 58.458 Kg.
 d49a788e03c00cba44512bc1007edd90c924a7ca 
Previous HEAD position was 6d76025 Automatic build. GitHub Actions build: 882676287 icub-model-generator commit: robotology/icub-models-generator@1472a40ae34b0601b82ed0d60406ab3300347e2d urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@1eb31b4e2d86e091c59cbe3cfc62d1e5265d7d61
HEAD is now at d49a788 Automatic build. GitHub Actions build: 773585480 icub-model-generator commit: robotology/icub-models-generator@8e36592b8124e49c92a07a553d11d466be2d3611 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 58.458 Kg.
 fcc20f76dfe526ca0d4302e6a5bed1240ba77671 
Previous HEAD position was d49a788 Automatic build. GitHub Actions build: 773585480 icub-model-generator commit: robotology/icub-models-generator@8e36592b8124e49c92a07a553d11d466be2d3611 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at fcc20f7 Automatic build. GitHub Actions build: 689389661 icub-model-generator commit: robotology/icub-models-generator@921c4cbd5eefd94e95437ad3bb01793aff3ace68 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 58.458 Kg.
 192c4a1fc0eeaa54c7cc222e99a1c10e4a0704a7 
Previous HEAD position was fcc20f7 Automatic build. GitHub Actions build: 689389661 icub-model-generator commit: robotology/icub-models-generator@921c4cbd5eefd94e95437ad3bb01793aff3ace68 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 192c4a1 Automatic build. GitHub Actions build: 589039128 icub-model-generator commit: robotology/icub-models-generator@20a9bbcfa6e962c44be22a30c531724a0227fb7e urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 58.458 Kg.
 e8eb113f81fa8d4d76ae899c4eb5b2c0baafa62c 
Previous HEAD position was 192c4a1 Automatic build. GitHub Actions build: 589039128 icub-model-generator commit: robotology/icub-models-generator@20a9bbcfa6e962c44be22a30c531724a0227fb7e urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at e8eb113 Automatic build. GitHub Actions build: 518010635 icub-model-generator commit: robotology/icub-models-generator@5090736272aec2e339a9eb71b21d7f00744f991e urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 58.458 Kg.
 b79c089d668ce76474580d0cd3b6b3e984b3cead 
Previous HEAD position was e8eb113 Automatic build. GitHub Actions build: 518010635 icub-model-generator commit: robotology/icub-models-generator@5090736272aec2e339a9eb71b21d7f00744f991e urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at b79c089 Automatic build. GitHub Actions build: 438914056 icub-model-generator commit: robotology/icub-models-generator@7c1537c525eb09eeefd7e475e04762b92bb71b85 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 ba5444390e8b5ea224dca16eeb7d63398001985e 
Previous HEAD position was b79c089 Automatic build. GitHub Actions build: 438914056 icub-model-generator commit: robotology/icub-models-generator@7c1537c525eb09eeefd7e475e04762b92bb71b85 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at ba54443 Merge branch 'master' into devel
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 fc233a25ad5842897c2d6e9083a07bc270b2c2a8 
Previous HEAD position was ba54443 Merge branch 'master' into devel
HEAD is now at fc233a2 Automatic build. GitHub Actions build: 415891553 icub-model-generator commit:robotology/icub-models-generator@6ffba96867cd8b3293cdb6e519a7f79b9baa7c4a urdf_parser_py commit:ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 46ce0473e6b41229f6acc39154220d8365c6f62f 
Previous HEAD position was fc233a2 Automatic build. GitHub Actions build: 415891553 icub-model-generator commit:robotology/icub-models-generator@6ffba96867cd8b3293cdb6e519a7f79b9baa7c4a urdf_parser_py commit:ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 46ce047 Automatic build. GitHub Actions build: 415084145 icub-model-generator commit:24a3dd74b402c80c068076f2a55028ba9c2352a7 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 67b4668ff8491d94d7269bc878319bf0bf78ce4c 
Previous HEAD position was 46ce047 Automatic build. GitHub Actions build: 415084145 icub-model-generator commit:24a3dd74b402c80c068076f2a55028ba9c2352a7 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 67b4668 Merge pull request #78 from kouroshD/master
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 e235367eebf96e4b886ed6254bf54b53085d4fee 
Previous HEAD position was 67b4668 Merge pull request #78 from kouroshD/master
HEAD is now at e235367 Update package.xml Licence field
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 93f735875d10053d731b77d5b61df7606380597c 
Previous HEAD position was e235367 Update package.xml Licence field
HEAD is now at 93f7358 Automatic build. GitHub Actions build: 405601897 icub-model-generator commit:1783e40d230592b2df3c19d8d40cb0ee1d327e43 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 63c2679db324b7652783ba8206bc9d4cdd56a8dc 
Previous HEAD position was 93f7358 Automatic build. GitHub Actions build: 405601897 icub-model-generator commit:1783e40d230592b2df3c19d8d40cb0ee1d327e43 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 63c2679 Automatic build. GitHub Actions build: 405519155 icub-model-generator commit:36a8ac41017b88ba1892ff7fe06833e6c9461e17 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 3162d663a223a68d02b5f4142fbd6c0bc139ef5b 
Previous HEAD position was 63c2679 Automatic build. GitHub Actions build: 405519155 icub-model-generator commit:36a8ac41017b88ba1892ff7fe06833e6c9461e17 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 3162d66 Automatic build. GitHub Actions build: 398142515 icub-model-generator commit:95f00797b7972a62a66e6dfedc97c8824e6012b9 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 94bdb0a43c1701fc67b5262645fd2cdf5c5db83b 
Previous HEAD position was 3162d66 Automatic build. GitHub Actions build: 398142515 icub-model-generator commit:95f00797b7972a62a66e6dfedc97c8824e6012b9 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 94bdb0a Automatic build. GitHub Actions build: 396335869 icub-model-generator commit:b4d31861b14ea1d0cbc4e5952091633f708fdcc8 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 38d2b5b58b15989d1fc29f947906eb8f63e26bad 
Previous HEAD position was 94bdb0a Automatic build. GitHub Actions build: 396335869 icub-model-generator commit:b4d31861b14ea1d0cbc4e5952091633f708fdcc8 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 38d2b5b Automatic build. GitHub Actions build: 395866769 icub-model-generator commit:0376fc2de838ecc35d178c3a26a982907ce54168 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 27a1c484bb99aac825c3da6aaea55c7be70c6412 
Previous HEAD position was 38d2b5b Automatic build. GitHub Actions build: 395866769 icub-model-generator commit:0376fc2de838ecc35d178c3a26a982907ce54168 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 27a1c48 Update CHANGELOG.md
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 e07479416f909e3f4a7008da0443e60296c66976 
Previous HEAD position was 27a1c48 Update CHANGELOG.md
HEAD is now at e074794 Merge pull request #76 from robotology/devel
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 059c2dbd98864e24dd753479994b97fb0baf7a3e 
Previous HEAD position was e074794 Merge pull request #76 from robotology/devel
HEAD is now at 059c2db Automatic build. GitHub Actions build: 391722343 icub-model-generator commit:28cb1942753233009dfb679838230edd94da146a urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 bed6cb255d58ba26157218589776b3746721f2c4 
Previous HEAD position was 059c2db Automatic build. GitHub Actions build: 391722343 icub-model-generator commit:28cb1942753233009dfb679838230edd94da146a urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at bed6cb2 Merge pull request #75 from robotology/devel
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 20bb53590a01e9caea09d9e57b18ee59636a66cb 
Previous HEAD position was bed6cb2 Merge pull request #75 from robotology/devel
HEAD is now at 20bb535 Merge pull request #73 from robotology/traversaro-patch-1
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 8423a583e94911bc875a29ce2413fd92c744256d 
Previous HEAD position was 20bb535 Merge pull request #73 from robotology/traversaro-patch-1
HEAD is now at 8423a58 Merge pull request #74 from robotology/create-changelog
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 7d18ecb9775fdffbb2c3983d55f470f9164da203 
Previous HEAD position was 8423a58 Merge pull request #74 from robotology/create-changelog
HEAD is now at 7d18ecb Create CHANGELOG.md
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 54d73b37e2b61ad6b252277950335e2df539dc46 
Previous HEAD position was 7d18ecb Create CHANGELOG.md
HEAD is now at 54d73b3 Bump version to 1.18.0
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 284a74ca6ed91892aeb7d9135e9dafa673848b11 
Previous HEAD position was 54d73b3 Bump version to 1.18.0
HEAD is now at 284a74c Automatic build. GitHub Actions build: 385441971 icub-model-generator commit:add55e8a10302f6b224ecc3d19e3053cf4ebdce3 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 2c2c030ff79cc9ce271814aa3b22ce6d5c25bb7f 
Previous HEAD position was 284a74c Automatic build. GitHub Actions build: 385441971 icub-model-generator commit:add55e8a10302f6b224ecc3d19e3053cf4ebdce3 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 2c2c030 Automatic build. GitHub Actions build: 385409274 icub-model-generator commit:e52506de571df91913e41c003fbe913687bec5f5 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 2cfb562f04256b0f288a8d4f711579c47c59d920 
Previous HEAD position was 2c2c030 Automatic build. GitHub Actions build: 385409274 icub-model-generator commit:e52506de571df91913e41c003fbe913687bec5f5 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
HEAD is now at 2cfb562 Automatic build. GitHub Actions build: 380800405 icub-model-generator commit:0772c921da5460b4efa52d361015cd74cae0cf5a urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
 676cb8d5e53b791133987d89340253d196de20b6 
Previous HEAD position was 2cfb562 Automatic build. GitHub Actions build: 380800405 icub-model-generator commit:0772c921da5460b4efa52d361015cd74cae0cf5a urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa
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[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 59.0636 Kg.
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Previous HEAD position was 676cb8d Automatic build. GitHub Actions build: 372318540 icub-model-generator commit:f82b2fcaf5608b4da6495cd5433f970d76b3d425 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:386e2c9c809d8d95e8e6c169cc23747de58ebae3
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The total mass of model is 59.0447 Kg.
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Previous HEAD position was 30c0283 Automatic build. GitHub Actions build: 372103414 icub-model-generator commit:29dc0d90e75baf7027241fba0c3d0fd2ecdf141e urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:386e2c9c809d8d95e8e6c169cc23747de58ebae3
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The total mass of model is 59.0447 Kg.
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Previous HEAD position was bf8c386 Automatic build. GitHub Actions build: 365912054 icub-model-generator commit:82fe4702d7f42e734681ca97f2d2445734e1a548 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:386e2c9c809d8d95e8e6c169cc23747de58ebae3 icub-main commit:7baee55743fef19fa163f12231bc0aa65354fb0b idyntree commit:40ba1b919b5f730faf597cc4237b492d03f45708
HEAD is now at 3c6cd40 Automatic build. GitHub Actions build: 357775079 icub-model-generator commit:13f3b3d62e0d01900d6c726fefbb227133636ea1 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:386e2c9c809d8d95e8e6c169cc23747de58ebae3 icub-main commit:7baee55743fef19fa163f12231bc0aa65354fb0b idyntree commit:40ba1b919b5f730faf597cc4237b492d03f45708
The total mass of model is 59.0447 Kg.
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Previous HEAD position was 3c6cd40 Automatic build. GitHub Actions build: 357775079 icub-model-generator commit:13f3b3d62e0d01900d6c726fefbb227133636ea1 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit:386e2c9c809d8d95e8e6c169cc23747de58ebae3 icub-main commit:7baee55743fef19fa163f12231bc0aa65354fb0b idyntree commit:40ba1b919b5f730faf597cc4237b492d03f45708
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The total mass of model is 59.0447 Kg.
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The total mass of model is 59.0447 Kg.
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Previous HEAD position was f95aa87 Automatic build. Travis build:505
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The total mass of model is 59.0447 Kg.
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The total mass of model is 59.0447 Kg.
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Previous HEAD position was 4b1f414 Automatic build. Travis build:498
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The total mass of model is 61.2099 Kg.
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The total mass of model is 61.2099 Kg.
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The total mass of model is 61.2099 Kg.
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Previous HEAD position was 823b9d2 Automatic build. Travis build:429
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The total mass of model is 61.2099 Kg.
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The total mass of model is 61.2099 Kg.
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The total mass of model is 61.2099 Kg.
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Previous HEAD position was 841cd00 Automatic build. Travis build:423
HEAD is now at 4df8e09 Merge pull request #59 from GiulioRomualdi/patch-1
The total mass of model is 61.2099 Kg.
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Previous HEAD position was 4df8e09 Merge pull request #59 from GiulioRomualdi/patch-1
HEAD is now at c49f17d Fix the child link in the "fixed_base" joint for fixed_model.sdf.in
The total mass of model is 61.2099 Kg.
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Previous HEAD position was c49f17d Fix the child link in the "fixed_base" joint for fixed_model.sdf.in
HEAD is now at ff1e7d4 Merge pull request #56 from GiulioRomualdi/patch-1
The total mass of model is 61.2099 Kg.
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Previous HEAD position was ff1e7d4 Merge pull request #56 from GiulioRomualdi/patch-1
HEAD is now at 6f1e8f7 Add iCubGazeboV3 to the GAZEBO_SUPPORTED_MODELS list
The total mass of model is 61.2099 Kg.
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Previous HEAD position was 6f1e8f7 Add iCubGazeboV3 to the GAZEBO_SUPPORTED_MODELS list
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The total mass of model is 61.2099 Kg.
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Previous HEAD position was c924281 Merge pull request #54 from robotology/traversaro-patch-1
HEAD is now at ee4a662 Remove iCubV3 model
The total mass of model is 61.2099 Kg.
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Previous HEAD position was ee4a662 Remove iCubV3 model
HEAD is now at 24969f6 Automatic build. Travis build:416
The total mass of model is 61.2099 Kg.
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Previous HEAD position was 24969f6 Automatic build. Travis build:416
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The total mass of model is 61.2099 Kg.
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The total mass of model is 61.2099 Kg.
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Previous HEAD position was 81eb253 Automatic build. Travis build:408
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The total mass of model is 58.1744 Kg.
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Previous HEAD position was b7f1167 Automatic build. Travis build:398
HEAD is now at a8bf6eb Merge pull request #52 from S-Dafarra/fixfixfixedModels
The total mass of model is 19.9045 Kg.
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Previous HEAD position was a8bf6eb Merge pull request #52 from S-Dafarra/fixfixfixedModels
HEAD is now at 10b24e6 Updated AddUninstallTarget to the one of ycm v0.12.0.
The total mass of model is 19.9045 Kg.
 18b438e683592e6707991db53bc4daa77a9f5de8 
Previous HEAD position was 10b24e6 Updated AddUninstallTarget to the one of ycm v0.12.0.
HEAD is now at 18b438e Fixed multiple generation of fixed models and add uninstall target.
The total mass of model is 19.9045 Kg.
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Previous HEAD position was 18b438e Fixed multiple generation of fixed models and add uninstall target.
HEAD is now at 29f5fdd Automatic build. Travis build:395
The total mass of model is 19.9045 Kg.
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Previous HEAD position was 29f5fdd Automatic build. Travis build:395
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The total mass of model is 19.9045 Kg.
pattacini commented 3 years ago

Thanks @GiulioRomualdi for checking. Thus, we haven't had a robot model weighting 51 kg. @salvi-mattia is on it.

S-Dafarra commented 3 years ago

Related issues/discussions:

salvi-mattia commented 3 years ago

At this point we have a 3kilos delta between the CAD and RL robot. less than 6%

As me and @DanielePucci said last time we would like to proceed creating the new simulation model in cad and export a new version of URDF

at this point we would like to remove this three kilos equally from the 7 big assemblies of the robot [chest, upper legs, lower legs, upper arms, forearms]

cc @S-Dafarra @fiorisi

immagine immagine

DanielePucci commented 3 years ago

Great, it makes sense to distribute these three kilos around! In fact, we checked more or less the CoM with @GiulioRomualdi and @isorrentino and more or less the CoM was where the model was suggesting. This CoM check, however, could be a further point to be investigated later on, sticking now with the objective of having URDF weight = scale weight 🚀

pattacini commented 3 years ago

A PR alleviating this weight mismatch is expected to land soon. See https://github.com/robotology/icub-models-generator/pull/207.

Thanks @salvi-mattia @mfussi66 @ale-git!

DanielePucci commented 2 years ago

CC @CarlottaSartore @lrapetti @S-Dafarra