updating iCub3 with new arm covers and corresponding options #202
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I have tested the model, it is working properly in Gazebo |
| @@ -3,10 +3,10 @@ torso_yaw,-43,43,2,0,120, | |||
| torso_pitch,-18,45,2,0,120, | |||
| torso_roll,-23,23,2,0,120, | |||
| r_shoulder_pitch,-88,13,2,0,120, | |||
| r_shoulder_roll,12,160,2,0,120, | |||
| r_shoulder_roll,12,163,2,0,120, | |||
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Did we documented somewhere this limits? It would be great if we could have some official documentation, such as https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-joints-limits/icub-joints-limits/ , so that here we just reference those.
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I don't think we did yet, since there was still going to be an update of the limits for the real robot, but we can update them I think
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If they are not updated, I am ok in merging this PR before the documentation changed, but I would open an issue on the update of joint limits, otherwise we risk forgetting about it.
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Regarding this point I think we need to discuss with @pattacini about these limits. Were they set for iCub3 anywhere, since the joint calibration? Where should we get these values from?
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@traversaro's suggestions were:
- to update our official documentation website with the iCub 3 joint limits.
- to create in robots-configuration an issue in order to keep track of the need for checking/implementing these new limits on the physical robot.
I think you can go ahead certainly with 2; it'd be great to have also 1 done.
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I have opened a new issue in robots-configuration, that we can see here: robotology/robots-configuration#280
this should allow us to keep track of this, in order to update them in the future
| <origin xyz="0.030743125543818514 0.141531075879301 0.06954757274337188" rpy="-0.0715644603308 0.0619699233851 -1.84623504024"/> | ||
| <geometry> | ||
| <mesh> | ||
| <scale>0.001 0.001 0.001</scale> | ||
| <uri>model://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl</uri> | ||
| </mesh> | ||
| </geometry> |
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Are you sure that it is necessary to duplicate this infor from the model manually? If you see how we inject collision info for r_foot_rear, this does not seems to be necessary, as in the collision tag only the elements that are added need to be included. This avoids the need for manually updating the origin tag if the transform location changes.
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Indeed we don't need the duplicated section, I have removed it, tested it and it works properly, I have committed and updated the PR (waiting for tests)
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Friendly ping @AlexAntn . |
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@AlexAntn is this PR ready to be merged? For the the future, I don't get notifications for new commits, so feel free to comment whenever the PR is ready for review/merge. |
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Hi @AlexAntn We are going to regenerate the URDF of iCub 3 quite soon. |
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@traversaro do you deem we can merge this PR or are there still open points? |
My comments were solved, but from #202 (comment) it seemed that you wanted to wait before merging this. If this is not the case anymore, we can merge. |
We can merge the PR so that we will inherit these additions into the URDF next time. |
This PR sees the update of the iCub3 with its new upperarm covers.
This change now accounts for skin width.
Other small changes in the model options were introduced (collision/contact sensors for the upper arms; small tweak on upper joint limit for the roll to be on par with real robot).