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robotology / simmechanics-to-urdf

Script for converting simmechanics XML files to URDF
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Set Model origin in generated iCub raw models #34

Closed nunoguedelha closed 6 years ago

nunoguedelha commented 6 years ago

Parses the model origin parameters from the yaml config file and adds the respective pose tag in the URDF model file. The parsed parameters appear in the yaml.in as follows:

# Model base origin
originXYZ: [0.0,0.0,0.63]
originRPY: [0.0,0.0,3.14]

The respective tag generated in the URDF would then be:

  <gazebo>
    <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
  </gazebo>

This allows the raw model to be dropped in the Gazebo simulator hovering 1mm above ground. This belongs to the Epic https://github.com/robotology-playground/icub-model-generator/issues/79.

nunoguedelha commented 6 years ago

I'm just curious about the 0.63 z component, why this value?

it was the closest before having the robot bouncing off the floor if I remember well...