From f5c3c12b63637dc4a50fd36699fbc4164d519036 Mon Sep 17 00:00:00 2001 From: Nicogene Date: Wed, 18 Mar 2026 11:28:09 +0100 Subject: [PATCH 1/4] Add iCubManchester01 generation --- dh/CMakeLists.txt | 3 +++ tests/CMakeLists.txt | 1 + 2 files changed, 4 insertions(+) diff --git a/dh/CMakeLists.txt b/dh/CMakeLists.txt index 1fe9dbd..a79df40 100644 --- a/dh/CMakeLists.txt +++ b/dh/CMakeLists.txt @@ -22,6 +22,9 @@ generate_icub_dh(YARP_ROBOT_NAME iCubNancy01 generate_icub_dh(YARP_ROBOT_NAME iCubLisboa01 PARTS_VERSIONS headV2-armsV1-legsV1-feetV1) +generate_icub_dh(YARP_ROBOT_NAME iCubManchester01 + PARTS_VERSIONS headV1-armsV1-legsV1-feetV1) + add_custom_target(generate-models-dh ALL DEPENDS ${model-dh-generated-models}) diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 48cad15..881b565 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -16,6 +16,7 @@ if( ICUB_MODEL_GENERATE_DH ) add_icub_model_test(iCubGenova03) add_icub_model_test(iCubNancy01) add_icub_model_test(iCubLisboa01) + add_icub_model_test(iCubManchester01) endif() # Model generated with simmechanics From 68363ab4efdccfd2369c74200b5c092b95f266cf Mon Sep 17 00:00:00 2001 From: Nicogene Date: Wed, 18 Mar 2026 11:56:59 +0100 Subject: [PATCH 2/4] Fix duplicated ft_sensors frames --- .../headV1-armsV1-legsV1-feetV1/model.urdf | 20 ------------------- 1 file changed, 20 deletions(-) diff --git a/dh/data/legacy_models/headV1-armsV1-legsV1-feetV1/model.urdf b/dh/data/legacy_models/headV1-armsV1-legsV1-feetV1/model.urdf index 76bd694..71fb3f2 100644 --- a/dh/data/legacy_models/headV1-armsV1-legsV1-feetV1/model.urdf +++ b/dh/data/legacy_models/headV1-armsV1-legsV1-feetV1/model.urdf @@ -1206,26 +1206,6 @@ - - - - - - - - - - - - - - - - - - - - From 8657bacd9c879d26e2727c8adc0fd1aafa5231c7 Mon Sep 17 00:00:00 2001 From: Nicogene Date: Wed, 18 Mar 2026 11:57:21 +0100 Subject: [PATCH 3/4] Add iCubManchester01 to tests --- tests/icub-model-test.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tests/icub-model-test.cpp b/tests/icub-model-test.cpp index 79898cd..ccb4ede 100644 --- a/tests/icub-model-test.cpp +++ b/tests/icub-model-test.cpp @@ -493,7 +493,8 @@ bool isModelWithoutFTSensorInAnkles(const std::string& modelPath) { return (modelPath.find("Genova03") != std::string::npos || modelPath.find("Nancy01") != std::string::npos || - modelPath.find("Lisboa01") != std::string::npos); + modelPath.find("Lisboa01") != std::string::npos || + modelPath.find("Manchester01") != std::string::npos); } std::vector getFTSensorNames(const std::string& modelPath) @@ -565,7 +566,7 @@ bool checkAllFTMeasurementFrameGivenBySensorTagsIsCoherentWithMeasurementFrameGi { std::cerr << "icub-model-test : checkAllFTMeasurementFrameGivenBySensorTagsIsCoherentWithMeasurementFrameGivenByFrame test performed correctly " << std::endl; } - + return ok; } From ce0c6e79d8e464fb6342ec0bb852e1b4ac3bc378 Mon Sep 17 00:00:00 2001 From: Nicogene Date: Wed, 18 Mar 2026 11:57:46 +0100 Subject: [PATCH 4/4] Add --output-on-failure to pixi task --- pixi.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.toml b/pixi.toml index da4f99f..cd76a9b 100644 --- a/pixi.toml +++ b/pixi.toml @@ -32,7 +32,7 @@ configure_cmake_project = { cmd = "cmake -GNinja -S. -B.build -DICUB_MODELS_SOUR generate_models = { cmd = "cmake --build .build --target generate-models", depends_on = ["configure_cmake_project"]} copy_models_to_icub_models = { cmd = "cmake --build .build --target copy-models-to-icub-models", depends_on = ["configure_cmake_project"]} build_tests = { cmd = "cmake --build .build", depends_on = ["configure_cmake_project"] } -test_generated_models = { cmd = "ctest --test-dir .build", depends_on = ["generate_models", "build_tests"]} +test_generated_models = { cmd = "ctest --output-on-failure --test-dir .build", depends_on = ["generate_models", "build_tests"]} [dependencies] # We need a version where https://github.com/robotology/idyntree/pull/1191