{"id":28851881,"url":"https://github.com/robotology/icub-models-generator","last_synced_at":"2026-03-13T10:33:05.160Z","repository":{"id":13477112,"uuid":"16167241","full_name":"robotology/icub-models-generator","owner":"robotology","description":"Resources and programs to generated models (URDF, SDF) of the iCub robot","archived":false,"fork":false,"pushed_at":"2026-01-14T14:18:12.000Z","size":35767,"stargazers_count":15,"open_issues_count":36,"forks_count":23,"subscribers_count":16,"default_branch":"master","last_synced_at":"2026-01-15T04:50:02.706Z","etag":null,"topics":["icub","sdf","urdf"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/robotology.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2014-01-23T08:52:23.000Z","updated_at":"2026-01-13T16:22:42.000Z","dependencies_parsed_at":"2023-02-16T20:16:19.205Z","dependency_job_id":"ae64ea64-120f-41e1-9d5a-f1810463b6c8","html_url":"https://github.com/robotology/icub-models-generator","commit_stats":null,"previous_names":["robotology-playground/icub-model-generator"],"tags_count":15,"template":false,"template_full_name":null,"purl":"pkg:github/robotology/icub-models-generator","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/robotology%2Ficub-models-generator","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/robotology%2Ficub-models-generator/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/robotology%2Ficub-models-generator/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/robotology%2Ficub-models-generator/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/robotology","download_url":"https://codeload.github.com/robotology/icub-models-generator/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/robotology%2Ficub-models-generator/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":30465432,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-03-13T06:34:02.089Z","status":"ssl_error","status_checked_at":"2026-03-13T06:33:49.182Z","response_time":60,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["icub","sdf","urdf"],"created_at":"2025-06-19T21:38:57.613Z","updated_at":"2026-03-13T10:33:05.150Z","avatar_url":"https://github.com/robotology.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# icub-models-generator\n\nResources and programs to generate models (URDF, SDF) of the iCub robot.\nThe models automatically generated by the software and the resources in this repository\nare available at https://github.com/robotology/icub-models .\n\n**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 documentation](https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics/).**\n\n\n## Usage\n\nTo generate the models, first of all that you have [pixi installed](https://pixi.sh/#installation).\n\nThen, clone the repo and generate and the models via the `test_generated_models` pixi task:\n\n~~~bash\ncd ~\ngit clone https://github.com/robotology/icub-models-generator\ncd icub-models-generator\npixi run test_generated_models\n~~~\n\nIf you want to generate the models in a local clone of icub-models, set the `ICUB_MODELS_SOURCE_DIR` environment variable to the location of the `icub-models` local folder, and run the `copy_models_to_icub_models` pixi task:\n~~~bash\ncd ~\ngit clone https://github.com/robotology/icub-models\nexport ICUB_MODELS_SOURCE_DIR=`pwd`/icub-models\ncd icub-models-generator\npixi run copy_models_to_icub_models\n~~~\n\nFor example, if you already have a icub-models copy as part of a robotology-superbuild installation located in `/usr/local/src/robotology-superbuild`, to generate the models there you can do the following:\n~~~bash\nexport ICUB_MODELS_SOURCE_DIR=/usr/local/src/robotology-superbuild/src/icub-models\ncd icub-models-generator\npixi run copy_models_to_icub_models\n~~~\n\n## Pipelines\nCurrently, it is possible to generate iCub models by means of two different pipelines.\n\n1) The generation is achieved by using Denavit Hartenberg parametsrs based on robot-model hardcoded data in the iKin/iDyn source code, and meshes postprocessed by ISIR at UPMC, Paris, available in `dh` directory.\n\n2) The generation is achieved from CAD models converted to simmechanics file, as described in https://github.com/icub-tech-iit/cad-mechanics-public/wiki/Creo-mechanism-to-URDF, available in the `simmechanics` directory.\n\nAs the two pipeline process data from different sources, **the link frames are not guaranteed to have the same orientation\nor location across different models**. The only frames (that are represented in URDF as massless links) whose position is guaranteed to be consistent across different models are the one documented in https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-model-naming-conventions/icub-model-naming-conventions/ .\n\nBoth generation pipelines are still in `a work in progress` state, and several issues need to be properly solved, e.g.:\n* [Hands and eyes are not generated #29](https://github.com/robotology/icub-model-generator/issues/29)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotology%2Ficub-models-generator","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotology%2Ficub-models-generator","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotology%2Ficub-models-generator/lists"}