iCubManchester - Simulation Model

[MrHuangWenjie]

Dear,

We are trying to use the simulator for iCub learning. However, we did not find the corresponding urdf file for our iCub here in Manchester.

If there is no ever a simulation file for our iCub, is it possible to create one with the device list below? Thank you so much!

registration name /cartesianSolver/left_arm/in ip 10.0.0.1 port 10108 type tcp
registration name /cartesianSolver/left_arm/left_arm/command:o ip 10.0.0.1 port 10102 type tcp registration name /cartesianSolver/left_arm/left_arm/rpc:o ip 10.0.0.1 port 10100 type tcp registration name /cartesianSolver/left_arm/left_arm/stateExt:i ip 10.0.0.1 port 10105 type tcp registration name /cartesianSolver/left_arm/out ip 10.0.0.1 port 10110 type tcp
registration name /cartesianSolver/left_arm/rpc ip 10.0.0.1 port 10084 type tcp
registration name /cartesianSolver/left_arm/torso/command:o ip 10.0.0.1 port 10095 type tcp registration name /cartesianSolver/left_arm/torso/rpc:o ip 10.0.0.1 port 10092 type tcp
registration name /cartesianSolver/left_arm/torso/stateExt:i ip 10.0.0.1 port 10097 type tcp registration name /cartesianSolver/right_arm/in ip 10.0.0.1 port 10107 type tcp
registration name /cartesianSolver/right_arm/out ip 10.0.0.1 port 10109 type tcp
registration name /cartesianSolver/right_arm/right_arm/command:o ip 10.0.0.1 port 10099 type tcp registration name /cartesianSolver/right_arm/right_arm/rpc:o ip 10.0.0.1 port 10098 type tcp registration name /cartesianSolver/right_arm/right_arm/stateExt:i ip 10.0.0.1 port 10101 type tcp registration name /cartesianSolver/right_arm/rpc ip 10.0.0.1 port 10085 type tcp
registration name /cartesianSolver/right_arm/torso/command:o ip 10.0.0.1 port 10091 type tcp registration name /cartesianSolver/right_arm/torso/rpc:o ip 10.0.0.1 port 10090 type tcp
registration name /cartesianSolver/right_arm/torso/stateExt:i ip 10.0.0.1 port 10094 type tcp registration name /diagnostics/skin/errors:o ip 10.0.0.2 port 10061 type tcp
registration name /fingersTuner/1/left_arm/command:o ip 10.0.0.1 port 10088 type tcp
registration name /fingersTuner/1/left_arm/rpc:o ip 10.0.0.1 port 10086 type tcp
registration name /fingersTuner/1/left_arm/stateExt:i ip 10.0.0.1 port 10089 type tcp
registration name /fingersTuner/2/right_arm/command:o ip 10.0.0.1 port 10112 type tcp
registration name /fingersTuner/2/right_arm/rpc:o ip 10.0.0.1 port 10111 type tcp
registration name /fingersTuner/2/right_arm/stateExt:i ip 10.0.0.1 port 10113 type tcp
registration name /fingersTuner/rpc ip 10.0.0.1 port 10122 type tcp
registration name /icub ip 10.0.0.1 port 10000 type tcp
registration name /icub-head ip 10.0.0.2 port 10003 type tcp
registration name /icub/cam/left ip 10.0.0.2 port 10131 type tcp
registration name /icub/cam/left/quit ip 10.0.0.2 port 10133 type tcp
registration name /icub/cam/left/rpc ip 10.0.0.2 port 10129 type tcp
registration name /icub/cam/right ip 10.0.0.2 port 10132 type tcp
registration name /icub/cam/right/quit ip 10.0.0.2 port 10134 type tcp
registration name /icub/cam/right/rpc ip 10.0.0.2 port 10130 type tcp
registration name /icub/camcalib/left/conf ip 10.0.0.1 port 10128 type tcp
registration name /icub/camcalib/left/in ip 10.0.0.1 port 10124 type tcp
registration name /icub/camcalib/left/out ip 10.0.0.1 port 10127 type tcp
registration name /icub/camcalib/right/conf ip 10.0.0.1 port 10126 type tcp
registration name /icub/camcalib/right/in ip 10.0.0.1 port 10123 type tcp
registration name /icub/camcalib/right/out ip 10.0.0.1 port 10125 type tcp
registration name /icub/cartesianController/left_arm/cartesianSolver/left_arm/in ip 10.0.0.2 port 10006 type tcp
registration name /icub/cartesianController/left_arm/cartesianSolver/left_arm/out ip 10.0.0.2 port 10007 type tcp
registration name /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc ip 10.0.0.2 port 10008 type tcp
registration name /icub/cartesianController/left_arm/command:i ip 10.0.0.2 port 10009 type tcp registration name /icub/cartesianController/left_arm/events:o ip 10.0.0.2 port 10011 type tcp registration name /icub/cartesianController/left_arm/rpc:i ip 10.0.0.2 port 10012 type tcp registration name /icub/cartesianController/left_arm/state:o ip 10.0.0.2 port 10010 type tcp registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/in ip 10.0.0.2 port 10013 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/out ip 10.0.0.2 port 10014 type tcp
registration name /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc ip 10.0.0.2 port 10015 type tcp
registration name /icub/cartesianController/right_arm/command:i ip 10.0.0.2 port 10016 type tcp registration name /icub/cartesianController/right_arm/events:o ip 10.0.0.2 port 10018 type tcp registration name /icub/cartesianController/right_arm/rpc:i ip 10.0.0.2 port 10019 type tcp registration name /icub/cartesianController/right_arm/state:o ip 10.0.0.2 port 10017 type tcp registration name /icub/fggui/left ip 10.0.0.1 port 10138 type tcp
registration name /icub/fggui/left/rpc_client ip 10.0.0.1 port 10140 type tcp
registration name /icub/fggui/right ip 10.0.0.1 port 10139 type tcp
registration name /icub/fggui/right/rpc_client ip 10.0.0.1 port 10141 type tcp
registration name /icub/head/command:i ip 10.0.0.2 port 10037 type tcp
registration name /icub/head/rpc:i ip 10.0.0.2 port 10036 type tcp
registration name /icub/head/state:o ip 10.0.0.2 port 10038 type tcp
registration name /icub/head/stateExt:o ip 10.0.0.2 port 10039 type tcp
registration name /icub/inertial ip 10.0.0.2 port 10062 type tcp
registration name /icub/joint_vsens/left_arm:i ip 10.0.0.2 port 10044 type tcp
registration name /icub/joint_vsens/left_leg:i ip 10.0.0.2 port 10045 type tcp
registration name /icub/joint_vsens/right_arm:i ip 10.0.0.2 port 10046 type tcp
registration name /icub/joint_vsens/right_leg:i ip 10.0.0.2 port 10047 type tcp
registration name /icub/joint_vsens/torso:i ip 10.0.0.2 port 10048 type tcp
registration name /icub/left_arm/analog:o ip 10.0.0.2 port 10063 type tcp
registration name /icub/left_arm/analog:o/rpc:i ip 10.0.0.2 port 10049 type tcp
registration name /icub/left_arm/command:i ip 10.0.0.2 port 10021 type tcp
registration name /icub/left_arm/rpc:i ip 10.0.0.2 port 10020 type tcp
registration name /icub/left_arm/state:o ip 10.0.0.2 port 10022 type tcp
registration name /icub/left_arm/stateExt:o ip 10.0.0.2 port 10023 type tcp
registration name /icub/left_hand/analog:o ip 10.0.0.2 port 10067 type tcp
registration name /icub/left_hand/analog:o/rpc:i ip 10.0.0.2 port 10053 type tcp
registration name /icub/left_leg/analog:o ip 10.0.0.2 port 10064 type tcp
registration name /icub/left_leg/analog:o/rpc:i ip 10.0.0.2 port 10050 type tcp
registration name /icub/left_leg/command:i ip 10.0.0.2 port 10029 type tcp
registration name /icub/left_leg/rpc:i ip 10.0.0.2 port 10028 type tcp
registration name /icub/left_leg/state:o ip 10.0.0.2 port 10030 type tcp
registration name /icub/left_leg/stateExt:o ip 10.0.0.2 port 10031 type tcp
registration name /icub/right_arm/analog:o ip 10.0.0.2 port 10065 type tcp
registration name /icub/right_arm/analog:o/rpc:i ip 10.0.0.2 port 10051 type tcp
registration name /icub/right_arm/command:i ip 10.0.0.2 port 10025 type tcp
registration name /icub/right_arm/rpc:i ip 10.0.0.2 port 10024 type tcp
registration name /icub/right_arm/state:o ip 10.0.0.2 port 10026 type tcp
registration name /icub/right_arm/stateExt:o ip 10.0.0.2 port 10027 type tcp
registration name /icub/right_hand/analog:o ip 10.0.0.2 port 10068 type tcp
registration name /icub/right_hand/analog:o/rpc:i ip 10.0.0.2 port 10054 type tcp
registration name /icub/right_leg/analog:o ip 10.0.0.2 port 10066 type tcp
registration name /icub/right_leg/analog:o/rpc:i ip 10.0.0.2 port 10052 type tcp
registration name /icub/right_leg/command:i ip 10.0.0.2 port 10033 type tcp
registration name /icub/right_leg/rpc:i ip 10.0.0.2 port 10032 type tcp
registration name /icub/right_leg/state:o ip 10.0.0.2 port 10034 type tcp
registration name /icub/right_leg/stateExt:o ip 10.0.0.2 port 10035 type tcp
registration name /icub/skin/left_arm ip 10.0.0.2 port 10071 type tcp
registration name /icub/skin/left_arm/rpc:i ip 10.0.0.2 port 10057 type tcp
registration name /icub/skin/left_forearm ip 10.0.0.2 port 10070 type tcp
registration name /icub/skin/left_forearm/rpc:i ip 10.0.0.2 port 10056 type tcp
registration name /icub/skin/left_hand ip 10.0.0.2 port 10069 type tcp
registration name /icub/skin/left_hand/rpc:i ip 10.0.0.2 port 10055 type tcp
registration name /icub/skin/right_arm ip 10.0.0.2 port 10074 type tcp
registration name /icub/skin/right_arm/rpc:i ip 10.0.0.2 port 10060 type tcp
registration name /icub/skin/right_forearm ip 10.0.0.2 port 10073 type tcp
registration name /icub/skin/right_forearm/rpc:i ip 10.0.0.2 port 10059 type tcp
registration name /icub/skin/right_hand ip 10.0.0.2 port 10072 type tcp
registration name /icub/skin/right_hand/rpc:i ip 10.0.0.2 port 10058 type tcp
registration name /icub/torso/command:i ip 10.0.0.2 port 10041 type tcp
registration name /icub/torso/rpc:i ip 10.0.0.2 port 10040 type tcp
registration name /icub/torso/state:o ip 10.0.0.2 port 10042 type tcp
registration name /icub/torso/stateExt:o ip 10.0.0.2 port 10043 type tcp
registration name /icub/view/left ip 10.0.0.1 port 10135 type tcp
registration name /icub/view/right ip 10.0.0.1 port 10136 type tcp
registration name /icub/yarprobotinterface ip 10.0.0.2 port 10005 type tcp
registration name /icubsrv ip 10.0.0.1 port 10002 type tcp
registration name /imuFilter/bias:o ip 10.0.0.2 port 10083 type tcp
registration name /imuFilter/inertial:i ip 10.0.0.2 port 10081 type tcp
registration name /imuFilter/inertial:o ip 10.0.0.2 port 10082 type tcp
registration name /wholeBodyDynamics/head/client/command:o ip 10.0.0.1 port 10093 type tcp registration name /wholeBodyDynamics/head/client/rpc:o ip 10.0.0.1 port 10087 type tcp registration name /wholeBodyDynamics/head/client/stateExt:i ip 10.0.0.1 port 10096 type tcp registration name /yarplogger ip 10.0.0.1 port 10103 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast

[Nicogene]

Hello @MrHuangWenjie!

From an internal check, we found that you have an iCub V1-ish version, this is a legacy version. At that time, we didn't manage the URDF generation, but we have a pipeline for generating urdf for legacy robots, for what concern the kinematic and dynamic representation, here is the PR that adds your robot:

• Add iCubManchester01 generation icub-models-generator#287

On top of that, we need to add the plugins you need, from your list I see:

• controlBoard
• imu (head)
• cameras

What do you use? gazebo classic or gz-sim?

Note that we are dropping the support to gazebo classic.

cc @martinaxgloria @pattacini