corlab / cogimon-gazebo-models

Robot (Gazebo) models used in CogIMon Project

cogimon-gazebo-models

cogimon-gazebo-models's Issues

Full cogimon model?

We have a branch cogimon-full, that has extended cogimon, but not fully full cogimon! I think some meshes are missing.

@EnricoMingo can we have a full model?

"High-Poly" Coman Model

In order to generate nice videos from the simulation we may need a "higher"-poly. model of coman.

Stick arm for Coman

Can we have a coman model with stick arm instead of forearm with fingers? I do have some stuff but they differ slightly from what @EnricoMingo has. So I prefer to have an Enrico generated urdf.

coman-no-forearm has arms!

Hi.
I am a bit unfamiliar with this format so there is a good chance that I might be wrong. With that said:
urdf and srdf files in iit-coman-no-forearms are bringing up coman with the forearm. To be sure, I spawned the model.urdf outside of our framework via ros and it brings the correct model with no forearm. Which tells, either there is something hardcoded somewhere, a problem is srdf or probably I am making a mistake. Relevant part of my ops files:

var string model_name = "model://iit-coman"
var string path_model_urdf = os.getenv("GAZEBO_MODEL_PATH")+"/iit-coman-no-forearms/model.urdf"
var string path_model_srdf = os.getenv("GAZEBO_MODEL_PATH")+"/iit-coman-no-forearms/coman_no_forearms.srdf"

gazebo.spawn_model("coman", model_name, 10)
robot_gazebo.getModel("coman")

robot_gazebo.loadURDFAndSRDF(path_model_urdf, path_model_srdf)

any ideas?

EDIT:
found the issue, never mind.

Allow Installation of Robot Models to Correct Folder

Ideally, the robot models provided via this repository should be installed to a distribution-wide location such that they are immediately available.

Fix the colors for the COMAN model to work with Gazebo

Fix the colors for the COMAN model to work with Gazebo

Fake joint velocity/torque limits

In our Coman urdf file it is mentioned that "Velocity and effort limits are fake!"
Maximum joint torque limits are set to 50 Nm and velocity limits to 4 rad/s which seems quite high.
Please correct these joint limits to enable a realistic simulation!