From b9dec2e194df2fd5e769fea86bcb508341788dbf Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Thu, 21 Mar 2024 11:11:01 +0100 Subject: [PATCH 1/5] Update documentation on the URDF generation from Creo CAD assemblies --- README.md | 5 ++++- urdf/creo2urdf/data/ergocub1_0/README.md | 12 +++++++++--- urdf/creo2urdf/data/ergocub1_1/README.md | 12 +++++++++--- 3 files changed, 22 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 005dbe59..32501e30 100644 --- a/README.md +++ b/README.md @@ -49,8 +49,11 @@ yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml ``` ## URDF generation + This repository hosts the configuration files for generating ergoCub urdf via [`creo2urdf`](https://github.com/icub-tech-iit/creo2urdf). -You can find there the relative documentation on how write those configuration files. +You can find there the relative documentation on how write those configuration files, and more details in the README of the following folders: +* [`urdf/creo2urdf/data/ergocub1_0`](./urdf/creo2urdf/data/ergocub1_0) +* [`urdf/creo2urdf/data/ergocub1_1`](./urdf/creo2urdf/data/ergocub1_1) ### Maintainers This repository is maintained by: diff --git a/urdf/creo2urdf/data/ergocub1_0/README.md b/urdf/creo2urdf/data/ergocub1_0/README.md index 17377a7f..cc95aa1d 100644 --- a/urdf/creo2urdf/data/ergocub1_0/README.md +++ b/urdf/creo2urdf/data/ergocub1_0/README.md @@ -1,3 +1,9 @@ -This directory contains file generated from `https://github.com/icub-tech-iit/cad-mechanics/blob/master/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` -using the https://github.com/icub-tech-iit/cad-mechanics-public/wiki/Creo-mechanism-to-URDF workflow . -In particular the `SIM_ERGOCUB_1-0.xml` is directly the output obtained by the SimMechanics Link plugin. +This directory contains file generated from `https://github.com/icub-tech-iit/cad-mechanics/blob/master/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` (the file is currently private, please contact one of the mantainers of the repo for access) using the https://github.com/icub-tech-iit/cad-libraries/wiki/Prepare-PTC-Creo-Mechanism-for-URDF workflow . + +In particular, this is the mapping between the files contained in this folder and the files contained in `ergocub-software/urdf/ergoCub/robots`: + +| CAD model in `cad-mechanics` | yaml file | csv file | YARP_ROBOT_NAME | +|:----------:|:---------:|:----------:|:--------------:| +| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options/ERGOCUB_all_options.csv` | `ergoCubSN000` | +| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.csv` | `ergoCubGazeboV1` | +| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.csv` | `ergoCubGazeboV1_minContacts` | diff --git a/urdf/creo2urdf/data/ergocub1_1/README.md b/urdf/creo2urdf/data/ergocub1_1/README.md index 17377a7f..683e5eb2 100644 --- a/urdf/creo2urdf/data/ergocub1_1/README.md +++ b/urdf/creo2urdf/data/ergocub1_1/README.md @@ -1,3 +1,9 @@ -This directory contains file generated from `https://github.com/icub-tech-iit/cad-mechanics/blob/master/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` -using the https://github.com/icub-tech-iit/cad-mechanics-public/wiki/Creo-mechanism-to-URDF workflow . -In particular the `SIM_ERGOCUB_1-0.xml` is directly the output obtained by the SimMechanics Link plugin. +This directory contains file generated from `https://github.com/icub-tech-iit/cad-mechanics/blob/master/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` (the file is currently private, please contact one of the mantainers of the repo for access) using the https://github.com/icub-tech-iit/cad-libraries/wiki/Prepare-PTC-Creo-Mechanism-for-URDF workflow . + +In particular, this is the mapping between the files contained in this folder and the files contained in `ergocub-software/urdf/ergoCub/robots`: + +| CAD model in `cad-mechanics` | yaml file | csv file | YARP_ROBOT_NAME | +|:----------:|:---------:|:----------:|:--------------:| +| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options.csv` | `ergoCubSN001` | +| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.csv` | `ergoCubGazeboV1_1` | +| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.csv` | `ergoCubGazeboV1_1_minContacts` | From 138df56af8d9d0a7108efe667975d81b7b5c2f99 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Thu, 21 Mar 2024 11:15:09 +0100 Subject: [PATCH 2/5] Document how to generate URDF files from Creo --- README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 32501e30..2c3a5ada 100644 --- a/README.md +++ b/README.md @@ -50,7 +50,11 @@ yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml ## URDF generation -This repository hosts the configuration files for generating ergoCub urdf via [`creo2urdf`](https://github.com/icub-tech-iit/creo2urdf). +This repository hosts the configuration files for generating ergoCub urdf. To generate the URDF, you need to have access to the `cad-mechanics` repo (that is currently private, if you need access ask it to the ergocub-software mantainer) and install the following repos and software: +* You need to install the version of Creo required by [`cad-mechanics`](https://github.com/icub-tech-iit/cad-mechanics/). +* You need to install the repos that contain the CAD models, i.e. cad-libraries (see https://github.com/icub-tech-iit/cad-libraries/wiki/Configure-PTC-Creo-with-cad-libraries) and cad-mechanics https://github.com/icub-tech-iit/cad-mechanics/. +* You need to install creo2urdf following the README in https://github.com/icub-tech-iit/creo2urdf, either from source or using the binary available for each release. + You can find there the relative documentation on how write those configuration files, and more details in the README of the following folders: * [`urdf/creo2urdf/data/ergocub1_0`](./urdf/creo2urdf/data/ergocub1_0) * [`urdf/creo2urdf/data/ergocub1_1`](./urdf/creo2urdf/data/ergocub1_1) From 1bcf9129f88b7f806a9085d42b01959cf0ae19d6 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Thu, 21 Mar 2024 11:16:18 +0100 Subject: [PATCH 3/5] Update README.md --- urdf/creo2urdf/data/ergocub1_0/README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_0/README.md b/urdf/creo2urdf/data/ergocub1_0/README.md index cc95aa1d..85e5c4cd 100644 --- a/urdf/creo2urdf/data/ergocub1_0/README.md +++ b/urdf/creo2urdf/data/ergocub1_0/README.md @@ -1,6 +1,5 @@ -This directory contains file generated from `https://github.com/icub-tech-iit/cad-mechanics/blob/master/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` (the file is currently private, please contact one of the mantainers of the repo for access) using the https://github.com/icub-tech-iit/cad-libraries/wiki/Prepare-PTC-Creo-Mechanism-for-URDF workflow . -In particular, this is the mapping between the files contained in this folder and the files contained in `ergocub-software/urdf/ergoCub/robots`: +This is the mapping between the CAD files, the files contained in this folder and the files contained in `ergocub-software/urdf/ergoCub/robots`: | CAD model in `cad-mechanics` | yaml file | csv file | YARP_ROBOT_NAME | |:----------:|:---------:|:----------:|:--------------:| From 647415435b66287f235cf4961efa66f24ff6a19f Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Thu, 21 Mar 2024 11:16:55 +0100 Subject: [PATCH 4/5] Update README.md --- urdf/creo2urdf/data/ergocub1_1/README.md | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_1/README.md b/urdf/creo2urdf/data/ergocub1_1/README.md index 683e5eb2..e4f7abb1 100644 --- a/urdf/creo2urdf/data/ergocub1_1/README.md +++ b/urdf/creo2urdf/data/ergocub1_1/README.md @@ -1,9 +1,7 @@ -This directory contains file generated from `https://github.com/icub-tech-iit/cad-mechanics/blob/master/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` (the file is currently private, please contact one of the mantainers of the repo for access) using the https://github.com/icub-tech-iit/cad-libraries/wiki/Prepare-PTC-Creo-Mechanism-for-URDF workflow . - -In particular, this is the mapping between the files contained in this folder and the files contained in `ergocub-software/urdf/ergoCub/robots`: +This is the mapping between the CAD files, the files contained in this folder and the files contained in `ergocub-software/urdf/ergoCub/robots`: | CAD model in `cad-mechanics` | yaml file | csv file | YARP_ROBOT_NAME | |:----------:|:---------:|:----------:|:--------------:| -| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options.csv` | `ergoCubSN001` | -| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.csv` | `ergoCubGazeboV1_1` | -| `cad-mechanics/projects/simulation_model/ergocub_1-0/sim_ergocub_1-0.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.csv` | `ergoCubGazeboV1_1_minContacts` | +| `cad-mechanics/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options.csv` | `ergoCubSN001` | +| `cad-mechanics/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_gazebo.csv` | `ergoCubGazeboV1_1` | +| `cad-mechanics/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.yaml` | `ergocub-software/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options/ERGOCUB_all_options_minContacts.csv` | `ergoCubGazeboV1_1_minContacts` | From e71e82fb765087a5e6fa978f0fed1dd3197498a9 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Thu, 21 Mar 2024 11:17:56 +0100 Subject: [PATCH 5/5] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 2c3a5ada..ab778b66 100644 --- a/README.md +++ b/README.md @@ -55,6 +55,8 @@ This repository hosts the configuration files for generating ergoCub urdf. To ge * You need to install the repos that contain the CAD models, i.e. cad-libraries (see https://github.com/icub-tech-iit/cad-libraries/wiki/Configure-PTC-Creo-with-cad-libraries) and cad-mechanics https://github.com/icub-tech-iit/cad-mechanics/. * You need to install creo2urdf following the README in https://github.com/icub-tech-iit/creo2urdf, either from source or using the binary available for each release. +The CAD files used to generate the URDF models have been prepare according to the procedure described in https://github.com/icub-tech-iit/cad-libraries/wiki/Prepare-PTC-Creo-Mechanism-for-URDF . + You can find there the relative documentation on how write those configuration files, and more details in the README of the following folders: * [`urdf/creo2urdf/data/ergocub1_0`](./urdf/creo2urdf/data/ergocub1_0) * [`urdf/creo2urdf/data/ergocub1_1`](./urdf/creo2urdf/data/ergocub1_1)