This software repository is still in alpha stage, not ready for normal use.
Resources (./data/ folder) and programs (./src/) folder to generated models (URDF,SDF) of the iCub robot .
The easiest way to install this repository with almost all its dependencies is to use the codyco-superbuild. The SDFormat dependency is not installed by the codyco-superbuild, but it should be already if you have installed the development files Gazebo (the one that you need to compile gazebo-yarp-plugins.
After compiling and installing this repository, you can run:
icub_urdf_sdf_generator --data_directory /path/to/codyco-superbuild/data/ --output_directory /path/to/icub-models/
Where the /path/to/codyco-superbuild/data/ directory is the path to the data subdirectory of this repository.
/path/to/icub-models/ is an arbitrary directory where you want to store the generated URDF and SDF models for the various iCubs (iCubGenova01, iCubGenova03, etc, etc).
The models available in /path/to/icub-models/icub-models/urdf are the one extracted directly from the iDyn models.
In the directory /path/to/icub-models/icub-models/gazebo-models you will find the SDF models generated for use with the Gazebo simulator, and the URDF models that match the kinematic and dynamic parameters of the SDF models. As the icub_urdf_sdf_generator generates also the proper configuration files to create a Gazebo model database, you can simply add /path/to/icub-models/icub-models/gazebo-models to the enviroment variable GAZEBO_MODEL_PATH.
Warning: currently to use the database of generated models of the iCub you should also install the icub-gazebo repository, as the generated models take configuration files and meshes from the iCub model present in the icub-gazebo repository.