icub-models v1.23.1

[1.23.1] - 2022-03-30

Changed

• The python module icub_models is now implemented in pure python. This removes the pybind11 dependency (#143).

icub-models v1.23.0

[1.23.0] - 2022-02-28

Added

• Implement a machinery to easily access model locations on C++ and Python (#130)

Changed

• All Gazebo models installed by icub-models are in SDF format version 1.7. This means that Gazebo >= 11 is required to load them (#130).
• iCub3 models (iCubGenova09 and iCubGazeboV3) now have an FT sensor installed in the right upper leg (robotology/icub-models-generator#218)
• The URDF colors of models is not random anymore (robotology/icub-models-generator#217).

Fixed

• Fix missing velocityControlImplementationType parameter in left_wrist_mk2 (robotology/icub-models-generator#213).
• Fix r_wrist_yaw of icub3 generated as continous joint (robotology/icub-models-generator#214)

icub-models v1.22.1

[1.22.1] - 2021-12-04

Fixed

• Fix bug in iCub3 models that made r_wrist_yaw a continuous joint (robotology/icub-models-generator#214).
• Fix compatibility of left_wrist_mk2 with gazebo-yarp-plugins 4 (robotology/icub-models-generator#213).

icub-models v1.22.0

[1.22.0] - 2021-11-12

Changed

• Update iCub3 with feet covers (robotology/icub-models-generator#210).
• Increase metacarpus joint limit of MK3 left hand's thumb (robotology/icub-models-generator#211).

Fixed

• Fixed compatibility of all iCub3 models with gazebo-yarp-plugins 4 (robotology/icub-models-generator#21).

icub-models v1.21.1

[1.21.1] - 2021-09-03

Fixed

• Fixed document on the use of AMENT_PREFIX_PATH environment variable (#101).
• Fixed wrong default collision on the arms that slowed down Gazebo Classic simulation for iCub3 models (#100, robotology/icub-models-generator#208).

icub-models v1.21.0

[1.21.0] - 2021-08-27

Added

• The hand_mk3 and wrist_mk2 containing the new version of iCub's hand and wrist, codenamed iCub hand Mk3 and iCub wrist Mk2, have been added to the repo. As this models are still in development, they could change in the future (robotology/icub-models-generator#203, #95).

Changed

• The iCub3 models (iCubGenova09 and iCubGazeboV3) have been updated with the new arm covers (robotology/icub-models-generator#202).

Fixed

• The masses of iCub3 models (iCubGenova09 and iCubGazeboV3) have been fixed to be more similar to the one of the real robot (robotology/icub-models-generator#207).

icub-models v1.20.0

[1.20.0] - 2021-05-30

Changed

The gains and damping parameters of iCubGazeboV3 have been changed (robotology/icub-models-generator#199).

icub-models v1.19.0

[1.19.0] - 2021-02-24

Added

• Added documentation to use the models in ROS2 (#82).
• Added model for the iCubErzelli02 robot (robotology/icub-models-generator#195).

Fixed

• Fixed the license tag in the package.xml for use the models in ROS/ROS2 (#78).
• Fixed several issues and problems with the iCubGenova09/iCubGazeboV3 model (robotology/icub-models-generator#194, robotology/icub-models-generator#193, robotology/icub-models-generator#189, robotology/icub-models-generator#187).

v1.18.1

[1.18.0] - 2020-11-30

Fixed

• Fix the direction of some axis for the iCub3 models (robotology/icub-models-generator#184).

v1.18.0

[1.18.0] - 2020-11-30

Added

• Added first URDF model for the iCub3, namely the iCubGazeboV3 with inertia modified to run in Gazebo Classic, and iCubGenova09 for control of the real robot.
  As the development of this model is an ongoing activity, interested users are suggested to keep in sync with the updates that will happen in the devel branch.

Changed

• The base_link massless link is now a child of the root_link link instead of being a parent. This has the effect that now when the URDF model of iCub is imported
  in Gazebo, after fixed joint lumping the link corresponding to the robot waist will be root_link, instead of base_link. This means that when the iCub model is included
  in a nested model, the joint to connect it to the rest of the model should refer to iCub::root_link instead of iCub::base_link
  (robotology/icub-models-generator#142, robotology/icub-models-generator#140 (comment)).