updated icub nancy urdf for balancing and standup #80
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Can you add a short |
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ping @gabrielenava |
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done at e91081a |
app/robots/iCubNancy01/README.md
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| - model.urdf --> it is the one loaded in yarpWholeBodyInterface.ini | ||
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| - model__BALANCING_IIT.urdf --> it is the model used for YOGA++ demo (the same of https://github.com/robotology-playground/icub-models/tree/master/iCub/robots/iCubNancy01) |
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model__BALANCING_IIT --> model_BALANCING_IIT
app/robots/iCubNancy01/README.md
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| - model__BALANCING_IIT.urdf --> it is the model used for YOGA++ demo (the same of https://github.com/robotology-playground/icub-models/tree/master/iCub/robots/iCubNancy01) | ||
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| - model__STANDUP.urdf --> it is used for the standup demo (added upper leg contact frames, see https://github.com/robotology-playground/icub-model-generator/issues/42) |
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model__STANDUP -> model_STANDUP
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I am confused by the models committed in this PR.
Just to clarify, f2f and in #78 (comment) I proposed to use a separated model for the balancing/standup for iCubNancy based on iCubDarmstadt01 because, while iCubNancy has v1 forearms, I trust better the accuracy of the simmechanics-generated model for the legs and the torso kinematics and dynamics parameters. Furthermore, as far as I remember we extracted the location of the |
app/robots/iCubNancy01/README.md
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| - model_BALANCING_IIT.urdf --> it is the model used for YOGA++ demo (the same of https://github.com/robotology-playground/icub-models/tree/master/iCub/robots/iCubNancy01) | ||
| - model_STANDUP.urdf --> it is the model used for the standup demo. For the time being, it is identical two model.urdf; |
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identical two model.urdf; --> identical to
I updated the model of iCub Nancy that now coincides with the one inside icub-models. Furthermore, I added a model containing also the frames for standup demo (and I verified their pose using rviz)