icub-models v2.2.1

[2.2.1] - 2023-07-10

Important: due to a human error, the change mentioned in the rest of the changelog were not included in the 2.2.0 release of icub-models, but are instead released in this new release 2.2.1.

Fixed

• Fix Gazebo Classic simulation of iCub 2.* and 3 models, that stopped working since the 2.1.0 release (robotology/icub-models-generator#240). Note that this fix highlighted a bug in icub-models that was introduced in 1.26.0, namely that the names of the FT sensors in the iCub models is not consistent with the real robot. This issue will be fixed in a future release, see robotology/icub-models-generator#242 for more details.

Changed

• Tune position PID gains for torso for iCub 2.* (robotology/icub-models-generator#241).

icub-models v2.2.0

[2.2.0] - 2023-06-27

Fixed

• Fix Gazebo Classic simulation of iCub 2.* and 3 models, that stopped working since the 2.1.0 release (robotology/icub-models-generator#240). Note that this fix highlighted a bug in icub-models that was introduced in 1.26.0, namely that the names of the FT sensors in the iCub models is not consistent with the real robot. This issue will be fixed in a future release, see robotology/icub-models-generator#242 for more details.

Changed

• Tune position PID gains for torso for iCub 2.* (robotology/icub-models-generator#241).

icub-models v2.1.0

[2.1.0] - 2023-06-05

Changed

• For consistency with the robot, now iCub simulated models publish their Force-Torque Sensors measurements via the multipleanalogsensorsserver YARP device (#198, robotology/icub-models-generator#239, robotology/robots-configuration#517). The name parameter passed to this device is: /<robotPortPrefix>/<partName>/FT. This means that for each part there will be a multipleanalogsensorsserver device that will open the following YARP ports (these YARP ports are not meant to be accessed directly, but should be accessed instead via the multipleanalogsensorsclient device):
  • /<robotPortPrefix>/<partName>/FT/measures:o : that publishes sensors information for the part, using the structure defined in https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift
  • /<robotPortPrefix>/<partName>/FT/rpc:o : that expose several information related to the part via a YARP RPC port

icub-models v2.0.1

[2.0.1] - 2023-03-31

Fixed

• Harmonize iCubGazeboV2_5_visuomanip RGB cameras port names (#196).

icub-models v2.0.0

[2.0.0] - 2023-03-08

Fixed

• Make models compatible with the YARP 3.8 (#171, #188, robotology/icub-models-generator#231).
• Fix incompatibility between RViz2 and iCubGazeboV3 model ( robotology/icub-models-generator#229 ).
• Uniform IMUs sensor names (robotology/icub-models-generator#235).
• Add partial support to expose sensor data of iCubGazeboV3 on ROS2 (robotology/icub-models-generator#228).

icub-models v1.26.0

[1.26.0] - 2022-12-09

Changed

• Export frames in urdf for the sensors (imu and Ft sensors) (robotology/icub-models-generator#227).
• Migrate iCub3 models to use gazebo_yarp_robotinterface plugin (robotology/icub-models-generator#222).

Fixed

• Fix finding the iCub package in ROS2 (#178).

icub-models v1.25.0

[1.25.0] - 2022-08-23

Changed

• Update iCub3 model with new weight, add FT on left leg, increase shoulder pitch limits (robotology/icub-models-generator#223).
• iCub3: Decrease limit of hip roll after installation of hard stop on robot (robotology/icub-models-generator#224).

icub-models v1.24.1

[1.24.1] - 2022-06-08

• Fix r_wrist_yaw joint direction in several iCub 2.* models (#156, robotology/icub-models-generator#220).

icub-models v1.24.0

[1.24.0] - 2022-05-31

Fixed

• New tuned pidParams for icub3 gazebo model for walking simulations (robotology/icub-models-generator#219).

icub-models v1.23.4

[1.23.4] - 2022-05-06

Fixed

• Make the C++ helper library more robust to system that automatically make the library relocatable such as conda (#154).