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robotology / simmechanics-to-urdf

Script for converting simmechanics XML files to URDF
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The generated urdf links do not contain visual and collision elements #38

Closed gabrielenava closed 5 years ago

gabrielenava commented 5 years ago

I tried to generate the urdf model contained in the test/ folder of this repository. The yaml configuration files contains details concerning the meshes renaming in the urdf, see https://github.com/robotology/simmechanics-to-urdf/blob/master/test/legs_simmechanics_options.yaml#L1.

However, the generated urdf links do not contain any visual and collision elements. See the generated urdf below:

<robot name="iCubHeidelberg01_SIM_MODEL">
  <link name="root_link">
    <inertial>
      <origin xyz="0.0251137 0.000104218 -0.0437451" rpy="1.57079632679 0 -1.57079632679"/>
      <mass value="5.1504"/>
      <inertia ixx="0.0140911" ixy="6.63933e-05" ixz="-8.71849e-05" iyy="0.0205529" iyz="-0.00172034" izz="0.0252712"/>
    </inertial>
  </link>
  <link name="r_hip_1">
    <inertial>
      <origin xyz="-0.0529681 -4e-05 -0.0005388" rpy="0 0 0"/>
      <mass value="0.9279"/>
      <inertia ixx="0.000403391" ixy="-1.44877e-06" ixz="2.87683e-06" iyy="0.000572457" iyz="-1.70772e-07" izz="0.00057759"/>
    </inertial>
  </link>
  <joint name="r_hip_pitch" type="revolute">
    <origin xyz="0.0064515 0.0111 -0.119913" rpy="1.57079632679 0 -1.57079632679"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="root_link"/>
    <child link="r_hip_1"/>
    <limit effort="50000" lower="-0.523598775598" upper="1.4835298642" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="r_hip_2">
    <inertial>
      <origin xyz="3.49999999999e-06 -0.044278 0.0249831" rpy="0 0 0"/>
      <mass value="0.4184"/>
      <inertia ixx="0.000487899" ixy="-2.35279e-07" ixz="1.93211e-07" iyy="0.000286147" iyz="1.23695e-05" izz="0.000315134"/>
    </inertial>
  </link>
  <joint name="r_hip_roll" type="revolute">
    <origin xyz="-0.059 0 -0.0263622" rpy="0 0 0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="r_hip_1"/>
    <child link="r_hip_2"/>
    <limit effort="50000" lower="0.0" upper="1.57079632679" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="r_hip_3">
    <inertial>
      <origin xyz="-0.000123 -0.0002823 0.008718" rpy="-1.57079632679 0 -1.57079632679"/>
      <mass value="0.1262"/>
      <inertia ixx="3.34665e-05" ixy="7.47286e-08" ixz="-4.04554e-08" iyy="5.70757e-05" iyz="-8.80407e-08" izz="3.33523e-05"/>
    </inertial>
  </link>
  <joint name="r_leg_ft_sensor" type="fixed">
    <origin xyz="0 -0.0743 0.0255047" rpy="1.57079632679 -1.57079632679 0"/>
    <parent link="r_hip_2"/>
    <child link="r_hip_3"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="r_upper_leg">
    <inertial>
      <origin xyz="-5.89e-05 -0.079146 0.0033012" rpy="0 0 0"/>
      <mass value="2.2544"/>
      <inertia ixx="0.00794621" ixy="0.000169783" ixz="9.58795e-06" iyy="0.00179234" iyz="-0.000163445" izz="0.00796958"/>
    </inertial>
  </link>
  <joint name="r_hip_yaw" type="revolute">
    <origin xyz="0 0 0.018" rpy="-1.57079632679 0 -1.57079632679"/>
    <axis xyz="0.0 -1.0 0.0"/>
    <parent link="r_hip_3"/>
    <child link="r_upper_leg"/>
    <limit effort="50000" lower="-1.2217304764" upper="1.2217304764" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="r_lower_leg">
    <inertial>
      <origin xyz="0.0117639 -0.083358 0.0024521" rpy="0 0 0"/>
      <mass value="1.7086"/>
      <inertia ixx="0.00565145" ixy="0.000651976" ixz="1.347e-05" iyy="0.00170964" iyz="-0.000147573" izz="0.00615412"/>
    </inertial>
  </link>
  <joint name="r_knee" type="revolute">
    <origin xyz="-0.017957 -0.145625 0" rpy="0 0 0"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="r_upper_leg"/>
    <child link="r_lower_leg"/>
    <limit effort="50000" lower="-1.74532925199" upper="0.0" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="r_ankle_1">
    <inertial>
      <origin xyz="0.034639 -4.73650698208e-05 0.0151613988639" rpy="0 0 0"/>
      <mass value="0.8929"/>
      <inertia ixx="0.000539928" ixy="-6.33371e-07" ixz="-3.92688e-05" iyy="0.00058171" iyz="1.26546e-06" izz="0.000414634"/>
    </inertial>
  </link>
  <joint name="r_ankle_pitch" type="revolute">
    <origin xyz="-0.021343 -0.201 0" rpy="-2.40788999988e-05 0 0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="r_lower_leg"/>
    <child link="r_ankle_1"/>
    <limit effort="50000" lower="-0.349065850399" upper="0.523598775598" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="r_ankle_2">
    <inertial>
      <origin xyz="-8.19999999999e-06 -0.0382019454736 -0.0437950868735" rpy="0 0 0"/>
      <mass value="0.2675"/>
      <inertia ixx="0.000329604" ixy="6.02821e-07" ixz="7.59365e-08" iyy="0.000253765" iyz="-1.08449e-08" izz="0.000148708"/>
    </inertial>
  </link>
  <joint name="r_ankle_roll" type="revolute">
    <origin xyz="0.0355 0 0.0445624670112" rpy="0 0 0"/>
    <axis xyz="0.0 3.49019587103e-15 -1.00000000029"/>
    <parent link="r_ankle_1"/>
    <child link="r_ankle_2"/>
    <limit effort="50000" lower="-0.349065850399" upper="0.349065850399" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="r_foot">
    <inertial>
      <origin xyz="0.033882827801 0.0054048 -0.00115418414893" rpy="-1.57079632708 0 -1.57079632679"/>
      <mass value="3"/>
      <inertia ixx="0.0003" ixy="-7.03830521877e-06" ixz="-0.000461427517132" iyy="0.0003" iyz="-6.20681338956e-05" izz="0.0003"/>
    </inertial>
  </link>
  <joint name="r_foot_ft_sensor" type="fixed">
    <origin xyz="0 -0.0603008427249 -0.0480625189919" rpy="3.14159265359 -1.57079632651 -1.57079632679"/>
    <parent link="r_ankle_2"/>
    <child link="r_foot"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="r_sole"/>
  <joint name="r_sole_fixed_joint" type="fixed">
    <origin xyz="0 0 0.0144000000055" rpy="-3.14159265359 0 0"/>
    <parent link="r_foot"/>
    <child link="r_sole"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_hip_1">
    <inertial>
      <origin xyz="-0.0529681 -3.63786457601e-05 0.000539056614961" rpy="-3.14159265359 -1.5640768048 1.57079632679"/>
      <mass value="0.9279"/>
      <inertia ixx="0.00057759" ixy="-2.87683e-06" ixz="1.70772e-07" iyy="0.000403391" iyz="-1.44877e-06" izz="0.000572457"/>
    </inertial>
  </link>
  <joint name="l_hip_pitch" type="revolute">
    <origin xyz="0.0064515 -0.0111 -0.119913" rpy="1.57751584879 0 1.57079632679"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="root_link"/>
    <child link="l_hip_1"/>
    <limit effort="50000" lower="-0.523598775598" upper="1.4835298642" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="l_hip_2">
    <inertial>
      <origin xyz="3.50000000004e-06 -0.0442668735976 -0.0246856073077" rpy="-3.14159265359 -1.5640768048 1.57079632679"/>
      <mass value="0.4184"/>
      <inertia ixx="0.000315134" ixy="-1.93211e-07" ixz="-1.23695e-05" iyy="0.000487899" iyz="-2.35279e-07" izz="0.000286147"/>
    </inertial>
  </link>
  <joint name="l_hip_roll" type="revolute">
    <origin xyz="-0.059 -8.59963575406e-07 0.026362200929" rpy="0 0 0"/>
    <axis xyz="0.0 -1.42487008564e-09 0.999999575903"/>
    <parent link="l_hip_1"/>
    <child link="l_hip_2"/>
    <limit effort="50000" lower="0.0" upper="1.57079632679" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="l_hip_3">
    <inertial>
      <origin xyz="-0.0006222 0.0002823 0.008713" rpy="-3.14159265359 0 -3.14159265359"/>
      <mass value="0.1262"/>
      <inertia ixx="3.33523e-05" ixy="4.04554e-08" ixz="8.80407e-08" iyy="3.34665e-05" iyz="7.47286e-08" izz="5.70757e-05"/>
    </inertial>
  </link>
  <joint name="l_leg_ft_sensor" type="fixed">
    <origin xyz="0 -0.0743000549473 -0.0255046186937" rpy="0 1.5640768048 -1.57079632679"/>
    <parent link="l_hip_2"/>
    <child link="l_hip_3"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_upper_leg">
    <inertial>
      <origin xyz="-5.88999999999e-05 -0.0791582282008 -0.0021491470665" rpy="-3.14159265359 -1.5640768048 1.57079632679"/>
      <mass value="2.2544"/>
      <inertia ixx="0.00796958" ixy="-9.58795e-06" ixz="0.000163445" iyy="0.00794621" iyz="0.000169783" izz="0.00179234"/>
    </inertial>
  </link>
  <joint name="l_hip_yaw" type="revolute">
    <origin xyz="0.000121 0 0.017999" rpy="-1.5640768048 0 1.57079632679"/>
    <axis xyz="0.0 0.999999575903 1.4248700891e-09"/>
    <parent link="l_hip_3"/>
    <child link="l_upper_leg"/>
    <limit effort="50000" lower="-1.2217304764" upper="1.2217304764" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="l_lower_leg">
    <inertial>
      <origin xyz="0.0117639 -0.0833608525374 -0.000293265754161" rpy="-3.14159265359 -1.5640768048 1.57079632679"/>
      <mass value="1.7086"/>
      <inertia ixx="0.00615412" ixy="-1.347e-05" ixz="0.000147573" iyy="0.00565145" iyz="0.000651976" izz="0.00170964"/>
    </inertial>
  </link>
  <joint name="l_knee" type="revolute">
    <origin xyz="-0.017957 -0.145625287455 0" rpy="0 0 0"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="l_upper_leg"/>
    <child link="l_lower_leg"/>
    <limit effort="50000" lower="-1.74532925199" upper="0.0" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="l_ankle_1">
    <inertial>
      <origin xyz="0.034639 -0.000149240603678 -0.0151607383132" rpy="3.14159265359 -1.5640527248 1.57079632679"/>
      <mass value="0.8929"/>
      <inertia ixx="0.000414633939155" ixy="3.92687847377e-05" ixz="-1.26143699224e-06" iyy="0.000539928" iyz="-6.34316549325e-07" izz="0.000581710060845"/>
    </inertial>
  </link>
  <joint name="l_ankle_pitch" type="revolute">
    <origin xyz="-0.021343 -0.200983719847 0.00294927094483" rpy="2.40800041309e-05 0 0"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="l_lower_leg"/>
    <child link="l_ankle_1"/>
    <limit effort="50000" lower="-0.349065850399" upper="0.523598775598" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="l_ankle_2">
    <inertial>
      <origin xyz="-8.19999999983e-06 -0.0381899139561 0.0470011143392" rpy="3.14159265359 -1.5640527248 1.57079632679"/>
      <mass value="0.2675"/>
      <inertia ixx="0.000148708000583" ixy="-7.59219847113e-08" ixz="1.33745569836e-08" iyy="0.000329604" iyz="6.02822828293e-07" izz="0.000253764999417"/>
    </inertial>
  </link>
  <joint name="l_ankle_roll" type="revolute">
    <origin xyz="0.0355 -1.6398477099e-05 -0.0475117797388" rpy="0 0 0"/>
    <axis xyz="0.0 -8.83422736873e-10 0.999999737998"/>
    <parent link="l_ankle_1"/>
    <child link="l_ankle_2"/>
    <limit effort="50000" lower="-0.349065850399" upper="0.349065850399" velocity="50000"/>
    <dynamics damping="0.223"/>
  </joint>
  <link name="l_foot">
    <inertial>
      <origin xyz="0.0305282 -0.0054048 -0.001173" rpy="-3.14159265359 0 -3.14159265359"/>
      <mass value="0.3794"/>
      <inertia ixx="0.000283689378669" ixy="5.83551785502e-05" ixz="7.87664576035e-06" iyy="0.00121493" iyz="-8.91516128767e-07" izz="0.00140897962133"/>
    </inertial>
  </link>
  <joint name="l_foot_ft_sensor" type="fixed">
    <origin xyz="0 -0.0603002589183 0.0480625407102" rpy="0 1.5640527248 -1.57079632679"/>
    <parent link="l_ankle_2"/>
    <child link="l_foot"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_sole"/>
  <joint name="l_sole_fixed_joint" type="fixed">
    <origin xyz="9.72e-05 0 0.014399" rpy="-3.14159265359 0.00674386312028 0"/>
    <parent link="l_foot"/>
    <child link="l_sole"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="torso_1">
    <inertial>
      <origin xyz="0.0393679204 0.0293082 0.000142300004739" rpy="0 0 0"/>
      <mass value="0.7112"/>
      <inertia ixx="0.000416742" ixy="-8.88072e-07" ixz="1.08936e-07" iyy="0.000392401" iyz="5.37987e-06" izz="0.000307697"/>
    </inertial>
  </link>
  <joint name="torso_pitch" type="revolute">
    <origin xyz="0 0.0394 0" rpy="1.57079632663 0 -1.57079632679"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="root_link"/>
    <child link="torso_1"/>
    <limit effort="50000" lower="-0.349065850399" upper="1.2217304764" velocity="50000"/>
    <dynamics damping="0.06"/>
  </joint>
  <link name="torso_2">
    <inertial>
      <origin xyz="-0.000121587809265 0.0287460000001 0.0580375000046" rpy="0 0 0"/>
      <mass value="0.3954"/>
      <inertia ixx="0.000620392" ixy="3.75632e-07" ixz="1.15418e-07" iyy="0.000446223" iyz="2.06978e-05" izz="0.00039084"/>
    </inertial>
  </link>
  <joint name="torso_roll" type="revolute">
    <origin xyz="0.0393999998093 0.032 -0.0587918999948" rpy="0 0 0"/>
    <axis xyz="0.0 5.16987882846e-26 -1.0"/>
    <parent link="torso_1"/>
    <child link="torso_2"/>
    <limit effort="50000" lower="-0.523598775598" upper="0.523598775598" velocity="50000"/>
    <dynamics damping="0.06"/>
  </joint>
  <link name="chest">
    <inertial>
      <origin xyz="-0.000279596809265 0.0998630000009 -0.00564929998385" rpy="0 0 0"/>
      <mass value="6.1306"/>
      <inertia ixx="0.0252769" ixy="1.73516e-05" ixz="-0.0001136" iyy="0.0497471" iyz="0.000340001" izz="0.0580977"/>
    </inertial>
  </link>
  <joint name="torso_yaw" type="revolute">
    <origin xyz="0 0.0514999999991 0.0642919000083" rpy="0 0 0"/>
    <axis xyz="0.0 -1.0 -5.16987882846e-26"/>
    <parent link="torso_2"/>
    <child link="chest"/>
    <limit effort="50000" lower="-0.872664625997" upper="0.872664625997" velocity="50000"/>
    <dynamics damping="0.06"/>
  </joint>
  <link name="imu_frame"/>
  <joint name="imu_frame_fixed_joint" type="fixed">
    <origin xyz="-0.0169999998093 0.100500000006 -0.0380999999838" rpy="-3.14159265359 0 0"/>
    <parent link="chest"/>
    <child link="imu_frame"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="WEIGHT-1KG-4">
    <inertial>
      <origin xyz="-1e-06 1.46e-05 -1e-06" rpy="0 0 0"/>
      <mass value="1.00161"/>
      <inertia ixx="0.0010891" ixy="3.14425e-08" ixz="0.0" iyy="0.00108866" iyz="4.73842e-08" izz="0.00213553"/>
    </inertial>
  </link>
  <joint name="chest_weight_5" type="fixed">
    <origin xyz="-0.132249999809 0.0955 0" rpy="1.57079632679 0 1.57079632679"/>
    <parent link="chest"/>
    <child link="WEIGHT-1KG-4"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="WEIGHT-1KG-3">
    <inertial>
      <origin xyz="-1.137569265e-06 1.46000000002e-05 -9.99999997586e-07" rpy="0 0 0"/>
      <mass value="1.00161"/>
      <inertia ixx="0.0010891" ixy="3.14425e-08" ixz="0.0" iyy="0.00108866" iyz="4.73842e-08" izz="0.00213553"/>
    </inertial>
  </link>
  <joint name="chest_weight_4" type="fixed">
    <origin xyz="0 0.22525 0" rpy="1.57079632679 0 0"/>
    <parent link="chest"/>
    <child link="WEIGHT-1KG-3"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="WEIGHT-1KG-5">
    <inertial>
      <origin xyz="-1e-06 1.46e-05 -1e-06" rpy="0 0 0"/>
      <mass value="1.00161"/>
      <inertia ixx="0.0010891" ixy="3.14425e-08" ixz="0.0" iyy="0.00108866" iyz="4.73842e-08" izz="0.00213553"/>
    </inertial>
  </link>
  <joint name="chest_weight_6" type="fixed">
    <origin xyz="-0.150749999809 0.0955 0" rpy="1.57079632679 0 1.57079632679"/>
    <parent link="chest"/>
    <child link="WEIGHT-1KG-5"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="WEIGHT-1KG">
    <inertial>
      <origin xyz="-1.00000000003e-06 1.46e-05 -1e-06" rpy="0 0 0"/>
      <mass value="1.00161"/>
      <inertia ixx="0.0010891" ixy="3.14425e-08" ixz="0.0" iyy="0.00108866" iyz="4.73842e-08" izz="0.00213553"/>
    </inertial>
  </link>
  <joint name="chest_weight_1" type="fixed">
    <origin xyz="0.132250000191 0.0955 0" rpy="1.57079632679 0 -1.57079632679"/>
    <parent link="chest"/>
    <child link="WEIGHT-1KG"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="WEIGHT-1KG-2">
    <inertial>
      <origin xyz="-1.137569265e-06 1.46000000002e-05 -9.99999997642e-07" rpy="0 0 0"/>
      <mass value="1.00161"/>
      <inertia ixx="0.0010891" ixy="3.14425e-08" ixz="0.0" iyy="0.00108866" iyz="4.73842e-08" izz="0.00213553"/>
    </inertial>
  </link>
  <joint name="chest_weight_3" type="fixed">
    <origin xyz="0 0.20675 0" rpy="1.57079632679 0 0"/>
    <parent link="chest"/>
    <child link="WEIGHT-1KG-2"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="WEIGHT-1KG-1">
    <inertial>
      <origin xyz="-1.00000000003e-06 1.46e-05 -1e-06" rpy="0 0 0"/>
      <mass value="1.00161"/>
      <inertia ixx="0.0010891" ixy="3.14425e-08" ixz="0.0" iyy="0.00108866" iyz="4.73842e-08" izz="0.00213553"/>
    </inertial>
  </link>
  <joint name="chest_weight_2" type="fixed">
    <origin xyz="0.150750000191 0.0955 0" rpy="1.57079632679 0 -1.57079632679"/>
    <parent link="chest"/>
    <child link="WEIGHT-1KG-1"/>
    <dynamics damping="0.1"/>
  </joint>
  <gazebo>
<plugin name="controlboard_torso" filename="libgazebo_yarp_controlboard.so">
    <yarpConfigurationFile>model://iCubHeidelberg01_model/conf/gazebo_iCubHeidelberg01_torso.ini</yarpConfigurationFile>
</plugin>
<plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">
    <yarpConfigurationFile>model://iCubHeidelberg01_model/conf/gazebo_iCubHeidelberg01_right_leg.ini</yarpConfigurationFile>
</plugin>
<plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
    <yarpConfigurationFile>model://iCubHeidelberg01_model/conf/gazebo_iCubHeidelberg01_left_leg.ini</yarpConfigurationFile>
</plugin>
<plugin name="apply_external_wrench" filename="libgazebo_yarp_externalwrench.so">
    <robotNamefromConfigFile>model://iCubHeidelberg01_model/conf/gazebo_iCubHeidelberg01_robotname.ini</robotNamefromConfigFile>
</plugin>
</gazebo>
  <gazebo reference="WEIGHT-1KG-4">
    <visual>
      <material>
        <ambient>0.2666668 0.2666668 0.2666668 1.0</ambient>
        <diffuse>0.56666695 0.56666695 0.56666695 1.0</diffuse>
        <specular>0.6000003 0.6000003 0.6000003 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="WEIGHT-1KG-3">
    <visual>
      <material>
        <ambient>0.2666668 0.2666668 0.2666668 1.0</ambient>
        <diffuse>0.56666695 0.56666695 0.56666695 1.0</diffuse>
        <specular>0.6000003 0.6000003 0.6000003 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="WEIGHT-1KG-5">
    <visual>
      <material>
        <ambient>0.2666668 0.2666668 0.2666668 1.0</ambient>
        <diffuse>0.56666695 0.56666695 0.56666695 1.0</diffuse>
        <specular>0.6000003 0.6000003 0.6000003 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="WEIGHT-1KG">
    <visual>
      <material>
        <ambient>0.2666668 0.2666668 0.2666668 1.0</ambient>
        <diffuse>0.56666695 0.56666695 0.56666695 1.0</diffuse>
        <specular>0.6000003 0.6000003 0.6000003 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="WEIGHT-1KG-2">
    <visual>
      <material>
        <ambient>0.2666668 0.2666668 0.2666668 1.0</ambient>
        <diffuse>0.56666695 0.56666695 0.56666695 1.0</diffuse>
        <specular>0.6000003 0.6000003 0.6000003 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="WEIGHT-1KG-1">
    <visual>
      <material>
        <ambient>0.2666668 0.2666668 0.2666668 1.0</ambient>
        <diffuse>0.56666695 0.56666695 0.56666695 1.0</diffuse>
        <specular>0.6000003 0.6000003 0.6000003 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_leg_ft_sensor">
    <sensor name="l_leg_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>child</frame>
        <measure_direction>child_to_parent</measure_direction>
      </force_torque>
    </sensor>
  </gazebo>
  <sensor name="l_leg_ft_sensor" type="force_torque">
    <parent joint="l_leg_ft_sensor"/>
    <force_torque>
      <frame>child</frame>
      <measure_direction>child_to_parent</measure_direction>
    </force_torque>
  </sensor>
  <gazebo reference="r_leg_ft_sensor">
    <sensor name="r_leg_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>child</frame>
        <measure_direction>child_to_parent</measure_direction>
      </force_torque>
    </sensor>
  </gazebo>
  <sensor name="r_leg_ft_sensor" type="force_torque">
    <parent joint="r_leg_ft_sensor"/>
    <force_torque>
      <frame>child</frame>
      <measure_direction>child_to_parent</measure_direction>
    </force_torque>
  </sensor>
  <gazebo reference="l_foot_ft_sensor">
    <sensor name="l_foot_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>child</frame>
        <measure_direction>child_to_parent</measure_direction>
      </force_torque>
    </sensor>
  </gazebo>
  <sensor name="l_foot_ft_sensor" type="force_torque">
    <parent joint="l_foot_ft_sensor"/>
    <force_torque>
      <frame>child</frame>
      <measure_direction>child_to_parent</measure_direction>
    </force_torque>
  </sensor>
  <gazebo reference="r_foot_ft_sensor">
    <sensor name="r_foot_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>child</frame>
        <measure_direction>child_to_parent</measure_direction>
      </force_torque>
    </sensor>
  </gazebo>
  <sensor name="r_foot_ft_sensor" type="force_torque">
    <parent joint="r_foot_ft_sensor"/>
    <force_torque>
      <frame>child</frame>
      <measure_direction>child_to_parent</measure_direction>
    </force_torque>
  </sensor>
  <gazebo reference="chest">
    <sensor name="imu_frame" type="imu">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <pose>-0.0169999998093 0.100500000006 -0.0380999999838 -3.14159265359 -0.0 0.0</pose>
      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
    <yarpConfigurationFile>model://iCubGenova02/conf/inertial.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="imu_frame" type="imu">
    <parent link="chest"/>
    <origin rpy="-3.14159265359 -0.0 0.0" xyz="-0.0169999998093 0.100500000006 -0.0380999999838"/>
  </sensor>
  <gazebo>
    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
  </gazebo>
</robot>

No error message is displayed

fiorisi commented 5 years ago

That's strange on my PC this command line executed in the test folder generates the correct model. As an example this is the root_link:

The only warning I get is the following:

Inertia: [[ 3.00000000e-04 -7.03830522e-06 -4.61427517e-04] [ -7.03830522e-06 3.00000000e-04 -6.20681339e-05] [ -4.61427517e-04 -6.20681339e-05 3.00000000e-04]] is not a valid Inertia matrix because it has negative inertias on the principal axis. Warning: inertia matrix for link r_foot is not physically consistent.

I have to check the dependencies. Do you have any warning about the meshes?

fiorisi commented 5 years ago

Also the last build seems fine. I fear that some dependency has been modified. Probably @drdanz can restart the build on Travis and we should be able to see if this is the case.

gabrielenava commented 5 years ago

I tried uninstalling and reinstalling everything, but still the same. Here is my terminal output:

gnava@iiticublap120 ~/Software/github/robotology/simmechanics-to-urdf/test (master) $ simmechanics_to_urdf LEGS_MECHANISM.xml --yaml legs_simmechanics_options.yaml --csv-joints joint_parameters.csv --output xml --outputfile testurdf.urdf
/usr/local/lib/python2.7/dist-packages/simmechanics_to_urdf-0.2-py2.7.egg/simmechanics_to_urdf/firstgen.py:289: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
Inertia: [[ 3.00000000e-04 -7.03830522e-06 -4.61427517e-04]
 [-7.03830522e-06  3.00000000e-04 -6.20681339e-05]
 [-4.61427517e-04 -6.20681339e-05  3.00000000e-04]] is not a valid Inertia matrix because it has negative inertias on the principal axis.

there is a warning concerning the YAML loader too.

gabrielenava commented 5 years ago

I fix easily the warning by changing the yaml.load here to yaml.safe_load, but still the issue is there.

gabrielenava commented 5 years ago

Ok, I did a bit of analysis of the problem. it seems that the visual and collision elements are generated correctly by https://github.com/robotology/simmechanics-to-urdf/blob/master/simmechanics_to_urdf/firstgen.py. In fact, I added the line

  print(visual)

right before this command and I can see the visual elements printed on the terminal with no errors:

geometry:
  filename: model://iCubHeidelberg01_model/dae_meshes/sim_root_link.dae
  scale:
  - 0.001
  - 0.001
  - 0.001
material:
  color:
    rgba:
    - 0
    - 1
    - 0
    - 1
  name: green
  texture: None
origin:
  rpy:
  - 1.5707963267948961
  - 0
  - -1.5707963267948961
  xyz:
  - -0.036399999999999995
  - 0
  - 0.032

This made me tought that the culprit should be the class urdf.Link() from urdf_parser_py. I checked in their github repo and - surprise! there is an issue about exactly this problem! See https://github.com/ros/urdf_parser_py/issues/42

I will try to revert back to previous commits of the urdf_parser_py and I'll add more details.

gabrielenava commented 5 years ago

I fixed the issue! the problem was due to multiple causes, all of them related to the urdf_parser_py:

See the first link of the urdf:

 <link name="root_link">
    <inertial>
      <origin xyz="-0.0026057700000000003 2.6285900000000003e-06 -0.0551054" rpy="0 0 0"/>
      <mass value="1.73671"/>
      <inertia ixx="0.102027" ixy="3.49564e-06" ixz="-0.000139376" iyy="0.0882212" iyz="3.14137e-06" izz="0.187815"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.03475" rpy="0 0 0"/>
      <geometry>
        <mesh filename="sim_drone.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 -0.03475" rpy="0 0 0"/>
      <geometry>
        <mesh filename="sim_drone.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>

closing the issue.

fiorisi commented 5 years ago

Thanks @gabrielenava for this check! 🙂

In order to catch this kind of issues earlier probably could be useful to have nightly builds that take place automatically and specific [unit test]() that fail if the generated urdf model is not well formed. In Travis we can use Cron Jobs. If we agree we can open a dedicated issue to discuss the implementation of this feature.

cc @traversaro @DanielePucci

DanielePucci commented 5 years ago

@fiorisi Fine to me!

traversaro commented 5 years ago

Thanks @gabrielenava for the in-depth debugging.

closing the issue.

I am not sure why we are closing the issue. As far as I understand, if anyone installs the simmechanics-to-urdf following the documentation contained in the README, it will be affected by the issue, right? The idea is to track this general issue in https://github.com/robotology/simmechanics-to-urdf/issues/36 ?

fiorisi commented 5 years ago

@traversaro I agree. Considering the title of the issue probably we should keep it open. Nevertheless, following your comment The idea is to track this general issue in #36 ? probably we can keep only one. There is also a link to the solution explained here.