https://github.com/robotology/icub-models-generator
Resources and programs to generated models (URDF, SDF) of the iCub robot
https://github.com/robotology/icub-models-generator
icub sdf urdf
Last synced: 3 months ago
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Resources and programs to generated models (URDF, SDF) of the iCub robot
- Host: GitHub
- URL: https://github.com/robotology/icub-models-generator
- Owner: robotology
- Created: 2014-01-23T08:52:23.000Z (over 12 years ago)
- Default Branch: master
- Last Pushed: 2026-01-14T14:18:12.000Z (5 months ago)
- Last Synced: 2026-01-15T04:50:02.706Z (5 months ago)
- Topics: icub, sdf, urdf
- Language: C++
- Homepage:
- Size: 34.1 MB
- Stars: 15
- Watchers: 16
- Forks: 23
- Open Issues: 36
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# icub-models-generator
Resources and programs to generate models (URDF, SDF) of the iCub robot.
The models automatically generated by the software and the resources in this repository
are available at https://github.com/robotology/icub-models .
**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/).**
## Usage
To generate the models, first of all that you have [pixi installed](https://pixi.sh/#installation).
Then, clone the repo and generate and the models via the `test_generated_models` pixi task:
~~~bash
cd ~
git clone https://github.com/robotology/icub-models-generator
cd icub-models-generator
pixi run test_generated_models
~~~
If 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:
~~~bash
cd ~
git clone https://github.com/robotology/icub-models
export ICUB_MODELS_SOURCE_DIR=`pwd`/icub-models
cd icub-models-generator
pixi run copy_models_to_icub_models
~~~
For 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:
~~~bash
export ICUB_MODELS_SOURCE_DIR=/usr/local/src/robotology-superbuild/src/icub-models
cd icub-models-generator
pixi run copy_models_to_icub_models
~~~
## Pipelines
Currently, it is possible to generate iCub models by means of two different pipelines.
1) 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.
2) 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.
As the two pipeline process data from different sources, **the link frames are not guaranteed to have the same orientation
or 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/ .
Both generation pipelines are still in `a work in progress` state, and several issues need to be properly solved, e.g.:
* [Hands and eyes are not generated #29](https://github.com/robotology/icub-model-generator/issues/29)