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Update documentation on the URDF generation from Creo CAD assemblies #229

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Mar 21, 2024
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Update documentation on the URDF generation from Creo CAD assemblies #229

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Update documentation on the URDF generation from Creo CAD assemblies
traversaro Mar 21, 2024
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Document how to generate URDF files from Creo
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Update README.md
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Update README.md
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13 changes: 11 additions & 2 deletions README.md
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Expand Up @@ -49,8 +49,17 @@ 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.

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/).
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I've noticed that https://github.com/icub-tech-iit/cad-mechanics/ is private, is it wanted? I've also noticed that I don't have the access 😃

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In theory that is documented, see the sentence "(that is currently private, if you need access ask it to the ergocub-software mantainer)".

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I guess it could make sense to consider moving those models to cad-mechanics-public, but I did not want to block the docs improvement on that discussion.

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I guess it could make sense to consider moving those models to cad-mechanics-public

cc @fiorisi @maggia80

* 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)

### Maintainers
This repository is maintained by:
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11 changes: 8 additions & 3 deletions urdf/creo2urdf/data/ergocub1_0/README.md
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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 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_1-0.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` |
10 changes: 7 additions & 3 deletions urdf/creo2urdf/data/ergocub1_1/README.md
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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 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_1-1/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` |
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