Handle location of the IMU in iCub Head v2 COM Express
traversaro opened this issue · 4 comments
For all the models generated by the generator, we should make sure that we export the correct location of the IMU if they are using an iCub Head v2 COM Express .
See robotology/icub-main#285 .
The DH-generated models simply need to be updated, period. For the SimMechanics generated model, which IMU are we using to generate the simplified model in the CAD @fiorisi ?
@fiorisi do you think we can recover the information of whether the model https://github.com/icub-tech-iit/cad-mechanics-public/blob/master/projects/simulation_model/icub1_icub2/icub_2-5_bb_sim_model.asm.1 was generated with the XSens IMU or the bno055 IMU in the head? Thanks!
The head IMU frame in the current iCub2.5 model comes from the iCub2 head (see this report ).
In this obsolete head there was a board named ATMEL_BNO055_XPLAINED_PRO which contained a bno055.
We have to regenerate the head files also for the iCub2.5 URDF model.
Actually the bno055 is indeed the one that is installed in the few iCub2.5 I am aware of, so that seems to be correct to me and coherent with what we have in icub-main's iKin classes. The more recent RFE board was only added as part of iCub 2.6 (see https://icub-tech-iit.github.io/documentation/icub_versions/) and for the time being we handled that in #164 by just moving the IMU frame, but if at some point we generate new Sim Mechanics files for the latest iCub 2.7 model it would be nice, but it is not blocking anything.