Silvio Traversaro

Make the C++ library relocatable when compiled as shared library via reloc-cpp

2

Until now, the C++ library of icub-models was not relocatable (i.e. "It can't be moved across filesystem and be used with no changes to itself or environment", see https://indico.cern.ch/event/848215/contributions/3591953/attachments/1923018/3181752/HSFPackagingRelocation.pdf). With...

After https://github.com/robotology/icub-models-generator/pull/222, we should be able to align the configuration of the iCubGazeboV3 and iCubGenova09 models. In particular, we shlould be able to: * [ ] Expose in iCubGazeboV3 exactly...

Deprecate left_wrist_mk2 and left_hand_mk3 and remove them in next release?

1

As mentioned in https://github.com/robotology/gazebo-yarp-plugins/pull/620#issuecomment-1087309756, it seems that `left_hand_mk3` model is now obsolete, so I think we can deprecate it and eventually remove it. If that is the case, I guess...

While working on another issue, I noticed that the models `left_wrist_mk2` and `left_hand_mk3` internally spawn as `libgazebo_yarp_worldinterface` plugin. As this plugin is not intended to be part of a model,...

Make sure ARE is working in Gazebo simulation

5

Several users are experiencing issues that (I think) are related to not properly tuned joint-level PID position loops of the iCub model in Gazebo, see: * https://github.com/robotology/QA/issues/155 * https://github.com/robotology/icub-gazebo/issues/37 *...

It should be set to a reasonable value, similar to the ones found on the real robots.

[model-generation] Numerical instability due to low articulated body inertia in the iCub shoulder

11

The mechanical department of iCub Facility recently extracted a URDF/SDF of the iCub v2.5 (with backpack and battery) from the CAD model of the robot, using the process described in...

See https://github.com/robotology/icub-models/issues/115 . We should understand what happens on most YARP-powered robots (for example, embObj-based iCub) to replicate it, as otherwise it is not clear why it goes in hw...

In https://github.com/robotology/icub-models/issues/104#issuecomment-917980798 it took me a while to understand that `conf_icub3/gazebo_icub_left_hand_thumb.ini` and several other related files are actually unused. To avoid further confusion, it would be better to remove them.