Difference between revisions of "ICubTree"

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For using the iCub with the new iDynTree library a whole body serialization of link and joints is necessary.
Discussion on naming conventions is still ongoing at
 
https://github.com/robotology/icub-main/issues/57 .
==Body part serialization==
The chosen serialization between the body parts of the iCub is:
{| border="1"
|+
! BodyPart serialization !! BodyPart ID
|-
| torso || 1
|-
| head || 2
|-
| left_arm || 3
|-
| right_arm || 4
|-
| left_leg || 5
|-
| right_leg || 6
|}
 
This is the same serialization used in [http://wiki.icub.org/iCub/main/dox/html/common_8h_source.html skinDynLib] and in the upcoming yarpWholeBodyInterface.
 
 
Some methods of the old iDyn library (part of the iCubWholeBody class) used another serialization:
{| border="1"
|+
! Deprecated
|-
| left_leg
|-
| right_leg
|-
| torso
|-
| left_arm
|-
| right_arm
|-
| head
|}
While this serialization is going to be deprecated, it can be used in iDynTree using the [http://wiki.icub.org/codyco/dox/html/namespaceiCub_1_1iDynTree.html#a0a6c62a8835d5c9c2b96972bd3b36e6c iCubTree_serialization_tag]
 
==Joint serialization==
The serialization of the body part induces a serialization of [[ICub joints]] (note that in the dynamical model the joint of the hands are not took in account)
{| border="1"
|+
! Global DOF Index !! Local DOF Index !! DOF Identifier !! BodyPart
|-
| 0 || 0 || torso_pitch  || torso
|-
| 1 || 1 || torso_roll || torso
|-
| 2 || 2 || torso_yaw|| torso
|-
| 3 || 0 || neck_pitch || head
|-
| 4 || 1 || neck_roll || head
|-
| 5 || 2 || neck_yaw || head
|-
| 6 || 0 || l_shoulder_pitch || left_arm
|-
| 7 || 1 || l_shoulder_roll || left_arm
|-
| 8 || 2 || l_shoulder_yaw || left_arm
|-
| 9 || 3 || l_elbow || left_arm
|-
| 10 || 4 || l_wrist_prosup || left_arm
|-
| 11 || 5 || l_wrist_pitch || left_arm
|-
| 12 || 6 || l_wrist_yaw || left_arm
|-
| 13 || 0 || r_shoulder_pitch || right_arm
|-
| 14 || 1 || r_shoulder_roll || right_arm
|-
| 15 || 2 || r_shoulder_yaw || right_arm
|-
| 16 || 3 || r_elbow || right_arm
|-
| 17 || 4 || r_wrist_prosup || right_arm
|-
| 18 || 5 || r_wrist_pitch || right_arm
|-
| 19 || 6 || r_wrist_yaw || right_arm
|-
| 20 || 0 || l_hip_pitch || left_leg
|-
| 21 || 1 || l_hip_roll || left_leg
|-
| 22 || 2 || l_hip_yaw || left_leg
|-
| 23 || 3 || l_knee || left_leg
|-
| 24 || 4 || l_ankle_pitch || left_leg
|-
| 25 || 5 || l_ankle_roll || left_leg
|-
| 26 || 0 || r_hip_pitch || right_leg
|-
| 27 || 1 || r_hip_roll || right_leg
|-
| 28 || 2 || r_hip_yaw || right_leg
|-
| 29 || 3 || r_knee || right_leg
|-
| 30 || 4 || r_ankle_pitch || right_leg
|-
| 31 || 5 || r_ankle_roll || right_leg
|}
 
==Links==
A similar serialization is provided also for the links. Please note that some of the links do not match a physical link, but are defined to describe useful reference frames (such as "imu_frame"). Among those links there are "l_gripper","r_gripper","l_sole","r_sole" that match the frames of the end effectors in the classical iDynChain(s).
 
{| border="1"
|+
! Global Link Index !! Local Link Index !! Link Identifier !! BodyPart
|-
| 0 || 0 || root_link || torso
|-
| 1 || 1 || lap_belt_1 || torso
|-
| 2 || 2 || lap_belt_2 || torso
|-
| 3 || 3 || chest || torso
|-
| 4 || 0 || neck_1 || head
|-
| 5 || 1 || neck_2 || head
|-
| 6 || 2 || head || head
|-
| 7 || 3 || imu_frame || head
|-
| 8 || 0 || l_shoulder_1 || left_arm
|-
| 9 || 1 || l_shoulder_2 || left_arm
|-
| 10 || 7 || l_upper_arm || left_arm
|-
| 11 || 2 || l_arm || left_arm
|-
| 12 || 3 || l_elbow_1 || left_arm
|-
| 13 || 4 || l_forearm || left_arm
|-
| 14 || 5 || l_wrist_1 || left_arm
|-
| 15 || 6 || l_hand || left_arm
|-
| 16 || 8 || l_gripper || left_arm
|-
| 17 || 0 || r_shoulder_1 || right_arm
|-
| 18 || 1 || r_shoulder_2 || right_arm
|-
| 19 || 7 || r_upper_arm || right_arm
|-
| 20 || 2 || r_arm || right_arm
|-
| 21 || 3 || r_elbow_1 || right_arm
|-
| 22 || 4 || r_forearm || right_arm
|-
| 23 || 5 || r_wrist_1 || right_arm
|-
| 24 || 6 || r_hand || right_arm
|-
| 25 || 8 || r_gripper || right_arm
|-
| 26 || 0 || l_hip_1  || left_leg
|-
| 27 || 1 || l_hip_2  || left_leg
|-
| 28 || 6 || l_upper_thigh  || left_leg
|-
| 29 || 2 || l_thigh  || left_leg
|-
| 30 || 3 || l_shank  || left_leg
|-
| 31 || 4 || l_ankle_1  || left_leg
|-
| 32 || 5 || l_foot  || left_leg
|-
| 33 || 7 || l_sole  || left_leg
|-
| 34 || 0 || r_hip_1  || right_leg
|-
| 35 || 1 || r_hip_2  || right_leg
|-
| 36 || 6 || r_upper_thigh  || right_leg
|-
| 37 || 2 || r_thigh  || right_leg
|-
| 38 || 3 || r_shank  || right_leg
|-
| 39 || 4 || r_ankle_1  || right_leg
|-
| 40 || 5 || r_foot  || right_leg
|-
| 41 || 7 || r_sole  || right_leg
|-
| 42 || 4 || torso    || torso
|}
 
==Tree==
A graphic representation of the iCub tree (note that the transformation on the graph are not the one currently provided by iCubTree):
[[File:Test_icub.pdf]]

Latest revision as of 12:31, 4 December 2014

Page superseeded.

Discussion on naming conventions is still ongoing at https://github.com/robotology/icub-main/issues/57 .