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@traversaro traversaro released this 27 Nov 18:28
· 241 commits to master since this release
v1.18.0
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Learn about vigilant mode.

[1.18.0] - 2020-11-30

Added

  • Added first URDF model for the iCub3, namely the iCubGazeboV3 with inertia modified to run in Gazebo Classic, and iCubGenova09 for control of the real robot.
    As the development of this model is an ongoing activity, interested users are suggested to keep in sync with the updates that will happen in the devel branch.

Changed

  • The base_link massless link is now a child of the root_link link instead of being a parent. This has the effect that now when the URDF model of iCub is imported
    in Gazebo, after fixed joint lumping the link corresponding to the robot waist will be root_link, instead of base_link. This means that when the iCub model is included
    in a nested model, the joint to connect it to the rest of the model should refer to iCub::root_link instead of iCub::base_link
    (robotology/icub-models-generator#142, robotology/icub-models-generator#140 (comment)).
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