Skip ungenerated FT IMU frames in the simmechanics model for 2-5_plus models

[prashanthr05]

TheICUB_2-5_plus_BB_SIM_MODEL.xml do not have the FT IMU frames generated. This causes errors while trying to add the FT IMU frames in the ICUB_2-5_BB_simmechanics_options.yaml.in file

While compiling, I get this error:

[  3%] Generating iCubGazeboV2_5_plus.urdf
Traceback (most recent call last):
  File "/usr/local/bin/simmechanics_to_urdf", line 11, in <module>
    load_entry_point('simmechanics-to-urdf==0.2', 'console_scripts', 'simmechanics_to_urdf')()
  File "build/bdist.linux-x86_64/egg/simmechanics_to_urdf/firstgen.py", line 1871, in main
  File "build/bdist.linux-x86_64/egg/simmechanics_to_urdf/firstgen.py", line 177, in convert
  File "build/bdist.linux-x86_64/egg/simmechanics_to_urdf/firstgen.py", line 249, in addSensors
KeyError: ('r_hip_2', 'SCSYS_R_UPPER_LEG_FT-IMU_3B11')
simmechanics/CMakeFiles/generate-models-simmechanics.dir/build.make:92: recipe for target 'simmechanics/iCubGazeboV2_5_plus.urdf' failed
make[2]: *** [simmechanics/iCubGazeboV2_5_plus.urdf] Error 1
CMakeFiles/Makefile2:1202: recipe for target 'simmechanics/CMakeFiles/generate-models-simmechanics.dir/all' failed
make[1]: *** [simmechanics/CMakeFiles/generate-models-simmechanics.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

REASON

The IMU frames have not been generated in the icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml and in the options file icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in, we are asking the firstgen.py parser to add the IMU sensors by accessing the relevant frame names in the generated sim mechanics file.

WORKAROUND

• To test if the changes in the PR are passing, I commented out the macro in generate_icub_simmechanics that uses the icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml. With this change, the compilation succeeds.

• Maybe a proper fix could be to maintain two yaml option files, one for ICUB_2-5_plus_BB_SIM_MODEL.xml and another for ICUB_2-5_BB_SIM_MODEL.xml.

Any suggestions @nunoguedelha @fiorisi ?

Originally posted by @prashanthr05 in #113 (comment)

[nunoguedelha]

I wouldn't go for that solution (2 yaml option files) to avoid duplicating information while keeping things simple enough.

While the icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml model is not properly updated...

We can add the parameters related to the FT-IMU via the CMakeLists.txt as it was done through the cmake variables @XSENS_IMU_FRAME@, @XSENS_IMU_SENSOR@ and using the condition tag GIVTWO_ICUB_PLUS:
https://github.com/robotology/icub-model-generator/blob/bada6e53f0c874d80812a0b3cd146145d1ea85c9/simmechanics/CMakeLists.txt#L131-L142

Regarding the icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml model update...

The FT-IMU frames are useful when the FT sensors are equipped with the strain2 boards, but when the FT sensors still have the old strain boards, having those IMU frames in the model does not pose a problem. Anyway, this is independent from the additional features integrated in the cub2.5plus model (inclined soles, XSENS IMU sensor).
So icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml should be updated with those FT-IMU frames, unless we decide to drop that model all-together, which is another discussion.

[nunoguedelha]

CC @traversaro @fjandrad

[nunoguedelha]

As as side note, it is the same situation with the XSENS IMU sensor I would say. The frame SCSYS_ROOT_LINK_XSENS_IMU should be present in both models icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml and icub2_5/ICUB_2-5_BB_SIM_MODEL.xml so the later should be updated.

[prashanthr05]

I think I accidentally deleted @XSENS_IMU_FRAME@ from the yaml file. I will add it.

[traversaro]

I agree with @nunoguedelha suggestion to use custom params to avoid mantaining to .yml files. Eventually if the 2.5+ model gets regenerate, we could probably avoid to have to deal with this additional parameter.

[nunoguedelha]

I agree with @nunoguedelha suggestion to use custom params to avoid mantaining to .yml files. Eventually if the 2.5+ model gets regenerate, we could probably avoid to have to deal with this additional parameter.

custom params added to CMakeLists.txt in #113.

[traversaro]

Was this fixed by #114 @prashanthr05 @nunoguedelha ?

[prashanthr05]

This was fixed by adding the custom @FT_IMU_SENSORS@ param to https://github.com/robotology/icub-model-generator/blob/9f6dbe7ab98c4a4762317e2c9aacb298ffe39c53/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in#L923

which was set empty for ICUB_2-5_plus models

https://github.com/robotology/icub-model-generator/blob/9f6dbe7ab98c4a4762317e2c9aacb298ffe39c53/simmechanics/CMakeLists.txt#L142

and set relevantly for ICUB_2-5 models
https://github.com/robotology/icub-model-generator/blob/9f6dbe7ab98c4a4762317e2c9aacb298ffe39c53/simmechanics/CMakeLists.txt#L177

[traversaro]

Ok, so we can close this issue?

[prashanthr05]

I renamed the issue to be more meaningful. We can close it.

[traversaro]

Thanks!

[nunoguedelha]

Just to complete the info:

• this was originally fixed in PR Add legs FT IMU frames - address review #113 .
• Which was closed and PRed again (for Travis issues) in Add legs FT IMU frames #122 .