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Published 20 hours ago • verified publisher icon robotology

Automatic sanity checks to add

Open traversaro opened this issue 4 years ago • 3 comments

  • [ ] Easy: Verify that all the joint are either of type fixed or revolute (to avoid regression such as https://github.com/robotology/icub-models/issues/72)
  • [ ] Hard: Verify that the models meant to run in Gazebo can be spawned and not explode

traversaro avatar Nov 26 '20 13:11 traversaro

  • [ ] Easy: Check simmechancis file for failures of the type "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_REAR because of CAD constraint"

traversaro avatar Nov 26 '20 14:11 traversaro

  • [ ] Easy: Verify that all the joint are either of type fixed or revolute (to avoid regression such as robotology/icub-models#72)

Related issue: https://github.com/robotology/icub-models/issues/93 .

traversaro avatar Jun 14 '21 13:06 traversaro

Another useful sanity check would be to check that the total weight of the model (that you can get from iDynTree::Model::getTotalMass() ) and check that its difference w.r.t. to the measured one is below a threshold. This would avoid regression such as https://github.com/robotology/icub-models/issues/94 . fyi @maggia80 @DanielePucci

traversaro avatar Jun 18 '21 14:06 traversaro