Refactor the repo for using creo2urdf instead of simmechanics (#161)

.github/workflows/ci.yml

@@ -2,17 +2,17 @@ name: C++ CI Workflow with conda dependencies
 
 on:
   push:
-    paths:
-      - 'src/**'
+    branches:
+    - master
   pull_request:
-    paths:
-      - 'src/**'
+    types: [opened, reopened, synchronize, ready_for_review]
+
   schedule:
   # * is a special character in YAML so you have to quote this string
   # Execute a "nightly" build at 2 AM UTC
   - cron:  '0 2 * * *'
 
-jobs: 
+jobs:
   build:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
     runs-on: ${{ matrix.os }}
@@ -40,7 +40,7 @@ jobs:
         # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install ycm-cmake-modules yarp opencv 
+        mamba install ycm-cmake-modules yarp opencv idyntree
 
     - name: Configure [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
@@ -49,7 +49,7 @@ jobs:
         mkdir -p build
         cd build
         cmake -GNinja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCOMPILE_ergoCubEmotions:BOOL=ON ..
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCOMPILE_ergoCubEmotions:BOOL=ON -DBUILD_TESTING:BOOL=ON ..
 
     - name: Configure [Windows]
       if: contains(matrix.os, 'windows')
@@ -58,7 +58,7 @@ jobs:
         mkdir -p build
         cd build
         cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCOMPILE_ergoCubEmotions:BOOL=ON ..
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCOMPILE_ergoCubEmotions:BOOL=ON -DBUILD_TESTING:BOOL=ON ..
 
     - name: Build
       shell: bash -l {0}
@@ -72,6 +72,13 @@ jobs:
         cd build
         cmake --build . --config ${{ matrix.build_type }} --target install
 
+    - name: Test
+      shell: bash -l {0}
+      if: contains(matrix.os, 'ubuntu')
+      run: |
+        cd build
+        ctest --output-on-failure
+
 
 
 

CMakeLists.txt

@@ -18,8 +18,6 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 include(AddUninstallTarget)
 
-option(ERGOCUB_MODEL_GENERATE_SIMMECHANICS "Generate models using the model generation pipeline from simmechanics" OFF)
-option(ERGOCUB_MODEL_COPY_TO_SRC "Copy to sources the generated urdf files" OFF)
 option(BUILD_TESTING "Run tests for the generated models" OFF)
 option(COMPILE_ergoCubEmotions "Compile the module controlling the ergoCub emotions" OFF)
 
@@ -31,10 +29,10 @@ add_subdirectory(urdf)
 # See https://github.com/robotology/icub-models/issues/177
 # and https://github.com/icub-tech-iit/ergocub-software/issues/59
 file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/ergoCub_empty_file "")
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/ergoCub_empty_file 
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/ergoCub_empty_file
         DESTINATION share/ament_index/resource_index/packages
         RENAME ergoCub)
-        
+
 # TODO to be defined
 if (BUILD_TESTING)
   include( CTest )
@@ -44,6 +42,6 @@ endif()
 
 if(COMPILE_ergoCubEmotions)
   add_subdirectory(src)
-endif() 
+endif()
 
 

README.md

@@ -30,24 +30,8 @@ yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml
 ```
 
 ## URDF generation
-This repo hosts the `ergoCub` urdf, enabling the cmake flag `ERGOCUB_MODEL_GENERATE_SIMMECHANICS` it is possible to generate it from simmechanics xml.
-Enabling also `ERGOCUB_MODEL_COPY_TO_SRC` the generated models are copied in the `urdf` directory for being committed.
-### Dependencies
-- [Ruby](https://www.ruby-lang.org/en/)
-- [iDynTree](https://github.com/robotology/idyntree)
-- [YARP](https://github.com/robotology/yarp)
-- [simmechanics-to-urdf](https://github.com/robotology/simmechanics-to-urdf)
-### Usage
-```sh
-mkdir build
-cd build
-cmake -DERGOCUB_MODEL_GENERATE_SIMMECHANICS=BOOL:ON -DERGOCUB_MODEL_COPY_TO_SRC=BOOL:ON ..
-make
-(make install)
-```
-
-### Automatic generation
-[This GitHub Action](/.github/workflows/generate_models.yml) generates automatically the urdf everytime a commit in `urdf/simmechanics` on master branch is done and opens a PR containing the changes in the models.
+This repository hosts the configuration files for generating ergoCub urdf via [`creo2urdf`](https://github.com/icub-tech-iit/creo2urdf).
+You can find there the relative documentation on how write those configuration files.
 
 ### Maintainers
 This repository is maintained by:

tests/CMakeLists.txt

@@ -12,7 +12,8 @@ macro(add_ergocub_model_test yarpRobotName)
 endmacro()
 
 # Model generated with simmechanics
-if( ERGOCUB_MODEL_GENERATE_SIMMECHANICS )
-    add_ergocub_model_test(ergoCubGazeboV1)
-    add_ergocub_model_test(ergoCubSN000)
-endif()
+add_ergocub_model_test(ergoCubGazeboV1)
+add_ergocub_model_test(ergoCubGazeboV1_1)
+add_ergocub_model_test(ergoCubSN000)
+add_ergocub_model_test(ergoCubSN001)
+

tests/ergocub-model-test.cpp

@@ -14,6 +14,12 @@
 #include <cmath>
 #include <cstdlib>
 
+bool isergoCub1_1Model(const std::string& modelPath)
+{
+    return (modelPath.find("SN001") != std::string::npos ||
+            modelPath.find("GazeboV1_1") != std::string::npos);
+}
+
 inline bool checkDoubleAreEqual(const double & val1,
                                 const double & val2,
                                 const double tol)
@@ -226,7 +232,7 @@ bool checkSolesAreParallel(iDynTree::KinDynComputations & comp)
 
 
 
-bool checkAxisDirections(iDynTree::KinDynComputations & comp)
+bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1Model)
 {
 
     std::vector<std::string> axisNames;
@@ -287,10 +293,27 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp)
     expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.116648,0.227771,0.966702));
     axisNames.push_back("r_thumb_add");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.329847,0.160871,0.930227));
-    axisNames.push_back("r_thumb_prox");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.525416,0.838737,-0.143034));
-    axisNames.push_back("r_thumb_dist");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.525416,0.838737,-0.143034));
+    if (!isergoCub1_1Model) {
+        axisNames.push_back("r_thumb_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.525416,0.838737,-0.143034));
+        axisNames.push_back("r_thumb_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.525416,0.838737,-0.143034));
+        axisNames.push_back("l_thumb_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.525416,0.838737,0.143034));
+        axisNames.push_back("l_thumb_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.525416,0.838737,0.143034));
+    }
+    else {
+        axisNames.push_back("r_thumb_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.439716,0.892571,-0.0998355));
+        axisNames.push_back("r_thumb_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.439716,0.892571,-0.0998355));
+        axisNames.push_back("l_thumb_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.439716,0.892571,0.0998355));
+        axisNames.push_back("l_thumb_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.439716,0.892571,0.0998355));
+
+    }
     axisNames.push_back("r_index_add");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.250563,-0.935113,0.250563));
     axisNames.push_back("r_index_prox");
@@ -323,10 +346,6 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp)
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.116648,0.227771,-0.966702));
     axisNames.push_back("l_thumb_add");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.329847,0.160871,-0.930227));
-    axisNames.push_back("l_thumb_prox");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(0.525416,0.838737,0.143034));
-    axisNames.push_back("l_thumb_dist");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(0.525416,0.838737,0.143034));
     axisNames.push_back("l_index_add");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.250563,-0.935113,-0.250563));
     axisNames.push_back("l_index_prox");
@@ -550,11 +569,14 @@ bool checkFTMeasurementFrameGivenBySensorTagsIsCoherentWithMeasurementFrameGiven
         return false;
     }
 
+    //std::cout<<firstLink_H_sensor.toString()<<std::endl;
+    //std::cout<<firstLinkName<<" "<<sens->getSecondLinkName()<<std::endl;
+    //std::cout<<root_H_firstLink.toString();
 
     iDynTree::Transform root_H_sensor = root_H_firstLink*firstLink_H_sensor;
 
     // Check that the two transfom are equal equal
-    if (!checkTransformAreEqual(root_H_frame, root_H_sensor, 1e-6))
+    if (!checkTransformAreEqual(root_H_frame, root_H_sensor, 1e-5))
     {
         std::cerr << "ergocub-model-test : transform between root_H_frame and root_H_sensor for " << sensorName << " is not the expected one, test failed." << std::endl;
         std::cerr << "ergocub-model-test : root_H_frame :" << root_H_frame.toString() << std::endl;
@@ -680,7 +702,7 @@ int main(int argc, char ** argv)
     comp.setRobotState(qj,dqj,grav);
 
     // Check axis
-    if( !checkAxisDirections(comp) )
+    if( !checkAxisDirections(comp, isergoCub1_1Model(modelPath)) )
     {
         return EXIT_FAILURE;
     }

urdf/CMakeLists.txt

@@ -9,6 +9,8 @@
 set(GAZEBO_SUPPORTED_MODELS "")
 list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1")
 list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_minContacts")
+list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_1")
+list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_1_minContacts")
 
 
 set(INSTALLED_URDF_MODELS "")
@@ -24,23 +26,8 @@ macro(SUBDIRLIST result curdir)
   set(${result} ${dirlist})
 endmacro()
 
-if( ERGOCUB_MODEL_GENERATE_SIMMECHANICS )
-  add_subdirectory(simmechanics)
-  add_custom_target(generate-models ALL)
-
-  if(TARGET generate-models-simmechanics AND ERGOCUB_MODEL_COPY_TO_SRC )
-    add_dependencies(generate-models generate-models-simmechanics)
-    add_custom_target(copy-models-to-src ALL)
-    add_dependencies(copy-models-to-src generate-models)
-    add_custom_command(TARGET copy-models-to-src
-                       POST_BUILD
-                       COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}" "${CMAKE_CURRENT_SOURCE_DIR}/${BUILD_PREFIX}"
-                       COMMENT "Copying generated files to ${CMAKE_CURRENT_SOURCE_DIR}/${BUILD_PREFIX}")
-  endif()
-else()
-  # Copy the ergoCub folder in the build tree
-  file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/${BUILD_PREFIX} DESTINATION ${CMAKE_BINARY_DIR})
-endif()
+# Copy the ergoCub folder in the build tree
+file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/${BUILD_PREFIX} DESTINATION ${CMAKE_BINARY_DIR})
 
 set(ERGOCUB_MODELS_SDF_VERSION "1.7")
 
@@ -58,11 +45,7 @@ foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
 
   list(APPEND INSTALLED_URDF_MODELS \"${ROBOT_NAME}\")
   # When copying in sources remove the _fixed models
-  if(ERGOCUB_MODEL_COPY_TO_SRC)
-    file(REMOVE ${ROBOT_MODEL_CONFIG_FILE})
-    file(REMOVE_RECURSE ${ROBOT_FIXED_MODEL_FOLDER})
-    file(REMOVE_RECURSE ${ROBOT_FEET_FIXED_MODEL_FOLDER})
-  elseif(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS)
+  if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS)
 
     set(ROBOT_NAME_CONFIG "${ROBOT_NAME}")
     set(ROBOT_MODEL_CONFIG "model.urdf")