Silvio Traversaro

Sorry @claudiofantacci , I accidentally deleted your message. : ( However we can talk about this when we are back from vacation!

Hi @vicentepedro, I would say the most official model with eyes + hands (even if not completely automatically generated from CAD) is [`iCubGazeboV2_5_visuomanip `](https://github.com/robotology/icub-models/tree/master/iCub_manual/robots/iCubGazeboV2_5_visuomanip). It includes movable eyes and actuated...

> Instead, for what concerns robotology-playground/pybullet-robot-envs, I'm not sure if it's still actively maintained. The main developer recently left IIT, and I don't know if internally there's a plan to...

> @Tiago-N will try that model instead, and we will report how it goes. Ok, pay attention to the issue in https://github.com/robotology/icub-models/issues/12 that is quite critical, however it should be...

> > > > Probably on this @xEnVrE may know something. > > As far as I know, at the moment there are no planned activities for this repository. And...

At a first check, the `chest_skin_frame` is computed in https://github.com/robotology/idyntree/blob/c8bf721b771fa4b1e7c3a940632e121060719a19/src/legacy/icub-kdl/src/idyn2kdl_icub.cpp#L492 by computing the transform between the `chest` frame in the URDF, and the transform in which the point of the...

There is also a small assimettry on the y (see https://travis-ci.org/robotology/icub-model-generator/builds/604550171?utm_source=github_status&utm_medium=notification) ~~~ icub-model-test : base_link test performed correctly icub-model-test error: l_sole_y is -0.0701752, while r_sole_y is 0.0700861 while they should...

I noticed that this frames are not present in the iCubNancy01 model, differently from the version manually patched in https://github.com/robotology/yarp-wholebodyinterface/blob/master/app/robots/iCubNancy01/model.urdf . However, I do not know if anyone is using...

cc @DanielePucci

The Creo-generated model without backpack (such as the iCubDarmstadt01) already contains this models (but at the moment the iCubNancy01 robot is still generated with the `dh` parameters hardcoded in the...