models

iRonCub models

The URDF models have been developed starting from the iCub 2.5 models. More in details, the same files have been copied and adapted to generate the iRonCub models.

Versions:

Name	Model	Description
iRonCub Mk1		it's the first iRonCub version.
iRonCub Mk1_1		it's an intermediate version after iRonCub Mk1 version.

Installation and usage

How to use models in Gazebo (on Linux)

You should add these lines in your .bashrc (warning! not needed if you source the setup.sh file as described in this README)

export IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1/iRonCub/robots
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1/iRonCub/robots

How to use models in Gazebo (on Windows)

You should add these lines in your custom .bat file to be called from terminal (warning! not needed if you call the setup.bat file as described in this README)

set IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\
set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1\iRonCub\robots
set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1\iRonCub\robots

How to use the .urdf model with WBToolbox and Simulink (on Linux)

You should add these lines in your .bashrc (warning! not needed if you source the setup.sh file as described in this README)

export IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1/iRonCub/
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1/iRonCub/

Set the YARP_ROBOT_NAME variable as the name of the folder where the model.urdf is stored.

• export YARP_ROBOT_NAME=iRonCub-Mk1_Gazebo for using iRonCub Mk1 with Gazebo
• export YARP_ROBOT_NAME=iRonCub-Mk1_1_Gazebo for using iRonCub Mk1_1 with Gazebo

How to use the .urdf model with WBToolbox and Simulink (on Windows)

You should add these lines in your custom .bat file to be called from terminal (warning! not needed if you call the setup.bat file as described in this README)

set IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored]
set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1\iRonCub\
set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1\iRonCub\

Set the YARP_ROBOT_NAME variable as the name of the folder where the model.urdf is stored.

• set YARP_ROBOT_NAME=iRonCub-Mk1_Gazebo for using iRonCub Mk1 with Gazebo
• set YARP_ROBOT_NAME=iRonCub-Mk1_1_Gazebo for using iRonCub Mk1_1 with Gazebo

How to launch the yarpmotorgui (on Linux)

cd ${IRONCUB_SOFTWARE_SOURCE_DIR}/models/home-poses
yarpmotorgui --from {NAME_HOMEPOSE.ini}

How to launch the yarpmotorgui (on Windows)

cd %IRONCUB_SOFTWARE_SOURCE_DIR%\models\home-poses
yarpmotorgui --from {NAME_HOMEPOSE.ini}

How to run the yarprobotinterface (on both Linux and Windows)

You can use the following command:

yarprobotinterface --config launch-wholebodydynamics-iRonCub.xml

(warning: by default the FT sensors offsets are set to zero by <param name="startWithZeroFTSensorOffsets">true</param> here for iRonCub-Mk1_Gazebo model and here for iRonCub-Mk1_1_Gazebo model).