Silvio Traversaro

As a general option, I would prefer to leak icub-generation specific stuff to simmechanics-to-urdf, but indeed increasing the inertia for gazebo is kind of a generic problem.

Hi @inriaBrice, I will reply inline to each point. > Links can't have masse = 0, > Links can't have inertia matrix diagonal null -> ixx, iyy, izz != 0,...

Thanks for the feedback @InriaBrice (just a small comment: never edit a comment without adding a new comment as well, as people subscribed to the issue will not receive any...

Hi @InriaBrice , sorry for the delay in the reply. I am cleaning up today the meshes generation (issue https://github.com/robotology-playground/icub-model-generator/issues/28) and I will keep you updated.

Hi @InriaBrice , sorry for the late reply. A faithful meshes of your foot are the following ones: * https://github.com/robotology-playground/icub-model-generator/blob/7b4ebcba1ae06d9e8e60de6c80b217f97e66cac3/simmechanics/data/icub2_5/meshes/simmechanics/sim_sea_2-5_l_sole_prt-binary.stl * https://github.com/robotology-playground/icub-model-generator/blob/7b4ebcba1ae06d9e8e60de6c80b217f97e66cac3/simmechanics/data/icub2_5/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl Unfortunately, we are not currently using those meshes...

I think the STL is expressed in millimeters : ) , that is why in the URDF we have a `scale="0.001 0.001 0.001"` attribute to the mesh element.

I compared the location of the F/T sensors in iCubHeidelberg01 model against the iCub2.5 model (link frame can change among different simmechanics model, but F/T location should be fixed): ```...

From the check, it seems that the error is in the left leg.

Note that as the frame orientation of the `root_link` is constant across models, a quick workaround would be to copy all the left leg joint links from a model such...

Interestingly, there seems to be no simmetry problems in the `com`s : ``` traversaro@traversaro-VirtualBox:~/src/icub-model-generator/generated/robots$ idyntree-model-info -m iCubHeidelberg01/model.urdf --link-com-frame root_link --link-com root_link The COM of link root_link with respect to frame...