Silvio Traversaro

Automatic sanity checks to add

3

* [ ] 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...

At the moment, we manually place in https://github.com/robotology/icub-models-generator/tree/master/simmechanics/data the Simmechanics file created by the Creo converter. For reproducibility, it would be great if we also tracked which specific version of...

Change in location of chest_skin_frame in some legacy DH-generated iCub models after focal upgrade

1

After https://github.com/robotology/icub-model-generator/pull/134, the icub-models were regenerated in https://github.com/robotology/icub-models/commit/472db4555ea72832db571b49197849e1fc6192f1 . For simmechanics all the changes seems just that floating point numbers are printed with higher precision, but for some dh-generated models...

Some configuration files contained in this repo still use the GAZEBO_PIDS group, that has been deprecated in gazebo-yarp-plugins since a long time (see https://github.com/robotology/gazebo-yarp-plugins/blob/06255f1a1b30580b74e237449ba2be79836d2a62/plugins/controlboard/src/ControlBoardDriver.cpp#L1308). This issue will track the removal...

Asimmetry of ~0.1 millimeters between the soles of iCubGazeboV2_5 in x and y direction

1

See https://github.com/robotology/icub-model-generator/pull/122#issuecomment-536451721 .

*_upper_leg_back_contact frames

11

@gabrielenava defined and added to the `simmechanics` generated models the `(r/l)_upper_leg_contact` frames, that are convenient for experiments in which the robot is sitting on its legs. After a day, I...

In https://github.com/robotology/icub-model-generator/issues/98 , all the necessary info for generating sole taxel positions were added to the URDF. It is now necessary to make sure that this configuration files are available...

See https://github.com/robotology/icub-model-generator/issues/98#issuecomment-405618444 and following comments.

And the related warnings `('Warning: unexpected com for the chest ', '0.000188619190735 0.073091 -0.0472381')` . See https://github.com/robotology/icub-model-generator/pull/100 .

In https://github.com/robotology-playground/icub-taxel-positions (specifically in https://github.com/robotology-playground/icub-taxel-positions/blob/master/cad_extraction/torso/skinGui.py#L289) , we had a gui that was producing this charts that document the mapping between triangles, taxels and their ID (click to get the big...