Resources and programs to generated models (URDF,SDF) of the iCub robot.
Note: this repository is meant to streamline the process of producing iCub URDF/SDF models by iCub mantainers. It is not meant to be used directly by users of iCub. For offical info on the kinematic parameters of the iCub, please see the documentation in iCub's wiki.
There are currently two different pipelines to generated the models.
The generation system from Denavit Hartenberg parametsrs based on data on robot models hardcoded in the iKin/iDyn source code and meshes postprocessed by ISIR at UPMC, Paris, available in dh directory.
The generation system from actual CAD models converted to simmechanics file, described in http://wiki.icub.org/wiki/Creo_Mechanism_to_URDF , available in the simmechanics directory.
Both generation pipelines are still a work in progress, and several issues need to be properly solved, for example: