Update SN002 URDF to consider new battery pack

[S-Dafarra]

Task description

The SN002 has a shiny new battery back located in the back. To avoid inconsistencies at the dynamical level, it would be better to update the SN002 URDF with the new configuration.

Definition of Done

The SN002 URDF is updated considering the new battery pack

cc @Nicogene @traversaro @martinaxgloria @GiulioRomualdi

[maggia80]

cc @valegagge

[Nicogene]

Hi @S-Dafarra!

There are two possible ways of doing it:

• The long one is to update the simulation model starting from the CAD with the new battery and then regenerate the URDF
• The short one is to change the mass and ixx, iyy, izz of the torso link accordingly, the mesh will remain unchanged.

To understand, did the new battery pack increase the ergocub version to 1.3?
Because in this case we need to:

• update SN002 to have the battery pack
• Create the "gazebo" twin called ergoCubGazeboV1_3

cc @maggia80 @pattacini

[pattacini]

To understand, did the new battery pack increase the ergocub version to 1.3?

Probably yes; see:

• Update support-request.yml robotology/icub-tech-support#1890

[traversaro]

To understand, did the new battery pack increase the ergocub version to 1.3?

Probably yes; see:

* [Update support-request.yml robotology/icub-tech-support#1890](https://github.com/robotology/icub-tech-support/pull/1890)

Probably a bit OT, but should we have a documentation page listing ergoCub versions as we have for iCub (see https://icub-tech-iit.github.io/documentation/icub_versions/)?

[pattacini]

should we have a documentation page listing ergoCub versions as we have for iCub

It would start being quite helpful indeed.

[S-Dafarra]

There are two possible ways of doing it:

• The long one is to update the simulation model starting from the CAD with the new battery and then regenerate the URDF
• The short one is to change the mass and ixx, iyy, izz of the torso link accordingly, the mesh will remain unchanged.

Considering that the plan for future robots would be to use this new battery pack (correct me if I am wrong @maggia80), I would suggest going for the long way

[Nicogene]

There are two possible ways of doing it:

• The long one is to update the simulation model starting from the CAD with the new battery and then regenerate the URDF
• The short one is to change the mass and ixx, iyy, izz of the torso link accordingly, the mesh will remain unchanged.

Considering that the plan for future robots would be to use this new battery pack (correct me if I am wrong @maggia80), I would suggest going for the long way

Ok then!
I will need the help of one of our mechies for the long way, I will check their availability and schedule it

[valegagge]

o understand, did the new battery pack increase the ergocub version to 1.3?
yes

[traversaro]

I will need the help of one of our mechies for the long way, I will check their availability and schedule it

As we already discussing during summer, there are a few experiments new idea that AMI people worked on to improve the process. Not sure if any can be used in the short term for this, but you may anyhow have a quick alignment coffee once you identified the mechanical engineer that he is working on this, relevant people on AMI side are @FabioBergonti @GiulioRomualdi @Supermonkey-design @Giulero @pillai-s, I guess @FabioBergonti can be the entry point on the AMI side (if he is ok with it).

[Nicogene]

I will need the help of one of our mechies for the long way, I will check their availability and schedule it

As we already discussing during summer, there are a few experiments new idea that AMI people worked on to improve the process. Not sure if any can be used in the short term for this, but you may anyhow have a quick alignment coffee once you identified the mechanical engineer that he is working on this, relevant people on AMI side are @FabioBergonti @GiulioRomualdi @Supermonkey-design @Giulero @pillai-s, I guess @FabioBergonti can be the entry point on the AMI side (if he is ok with it).

Interesting for @icub-tech-iit/silo-mech @fiorisi

[fiorisi]

There are two possible ways of doing it:

• The long one is to update the simulation model starting from the CAD with the new battery and then regenerate the URDF
• The short one is to change the mass and ixx, iyy, izz of the torso link accordingly, the mesh will remain unchanged.

Considering that we have to solve different issues before integrating the new battery in the CAD model in cad-mechanics, I would start with the "short one" taking the necessary data from the snapshot.
As soon as the new battery is assembled also in the CAD in cad-mechanics we can generate the new URDF, maybe having a look at the procedure suggested by @traversaro.

[Nicogene]

Sorry for the long delay, we received the updated cad from @marcellosavoldi and @martinaxgloria managed to generated the updated urdf:

• Add YAMLs for ergoCubSN003/V1_3 models #282

It remains the open point on how to handle the meshes since they have been made by hand by @Supermonkey-design, maybe we can do a short chat cc (@traversaro @GiulioRomualdi )

[Nicogene]

Today we had a chat w/ @traversaro @pillai-s @Supermonkey-design and @martinaxgloria about the topic of exporting nice meshes from the simulation models.

It came out that there could be room for changing some step in the mechanics procedure for creating the simulation model (see ref) in order to make the simulation usable both by creo2urdf for extracting the kinematics part (the URDF) and the @pillai-s script for polishing the meshes.
In this way the procedure would be more automatic respect pinging @Supermonkey-design every time we need to update the robots meshes.

The mesh of the chest will be produced manually by @supermonkey-desing, but we could organize a meetup also w/ some mechanics (e.g. @salvi-mattia @fiorisi) in order see if these changes are doable.

cc @pattacini @maggia80