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Document frames and link frames situation

Open traversaro opened this issue 6 years ago • 4 comments

  • Document that the location of the link frames is not consistent between the models, and that for simmechanics models only the link frames listed in https://github.com/robotology/icub-model-generator/blob/52ee80fdbfc588e09010dd418fd5904c6ac7383c/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in#L552 have a strictly defined location
  • Move documentation from http://wiki.icub.org/wiki/ICub_Model_naming_conventions to this repo

traversaro avatar Feb 08 '19 13:02 traversaro

cc @GiulioRomualdi @S-Dafarra

traversaro avatar Feb 08 '19 13:02 traversaro

@kouroshD

yeshasvitirupachuri avatar Feb 19 '19 12:02 yeshasvitirupachuri

During the retargeting work, @kouroshD identified the link frames of the robot. The following figure shows the link frames of the icub frames but for our retargeting work/paper they are represented as the frames attached at the center of each of the links.

robot-frames

yeshasvitirupachuri avatar Feb 28 '19 13:02 yeshasvitirupachuri

Note that, as mentioned in https://github.com/robotology/icub-models/issues/20#issue-408154313, the frames of all the links that are not part of the legs can change at arbitrary times any time that the CAD model is generated again from Creo.

traversaro avatar Feb 28 '19 14:02 traversaro