Skip to content

Add iCubManchester01 generation #287

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Nicogene wants to merge 4 commits into
base: master
Choose a base branch
from
Open

Add iCubManchester01 generation #287

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
f5c3c12
Add iCubManchester01 generation
Nicogene Mar 18, 2026
68363ab
Fix duplicated ft_sensors frames
Nicogene Mar 18, 2026
8657bac
Add iCubManchester01 to tests
Nicogene Mar 18, 2026
ce0c6e7
Add --output-on-failure to pixi task
Nicogene Mar 18, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions dh/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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})
Expand Down
20 changes: 0 additions & 20 deletions dh/data/legacy_models/headV1-armsV1-legsV1-feetV1/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1206,26 +1206,6 @@
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
Expand Down
2 changes: 1 addition & 1 deletion pixi.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
1 change: 1 addition & 0 deletions tests/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
5 changes: 3 additions & 2 deletions tests/icub-model-test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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<std::string> getFTSensorNames(const std::string& modelPath)
Expand Down Expand Up @@ -565,7 +566,7 @@ bool checkAllFTMeasurementFrameGivenBySensorTagsIsCoherentWithMeasurementFrameGi
{
std::cerr << "icub-model-test : checkAllFTMeasurementFrameGivenBySensorTagsIsCoherentWithMeasurementFrameGivenByFrame test performed correctly " << std::endl;
}

return ok;
}

Expand Down
Loading