Request to update icub-main and robots-configuration to address iCub Head 2.5

[pattacini]

Dear @robotology/all-robotology-developers

Since in our latest mechanics of the iCub head the IMU is displaced wrt its standard location, we have been forced to update the way we handle hardware versioning in order to better account for future releases.

In particular, we have:

• Extended iKin to define the new 2.5 head mechanics.
• Streamlined iKinGazeCtrl to deal with multiple hardware versions (i.e. 1.0, 2.0, 2.5).
  The --headV2 command-line option has been superseded by --head_version x.y.

As a result, we would kindly ask you to update your icub-main/ master and robots-configuration/ master local repositories.

Furthermore, you should also take care of updating robot configuration files possibly customized on your system (i.e. those located under ./local/share/yarp/robots/...), which are currently shadowing their counterparts with default values (i.e. those located in $ICUBContrib_DIR/build/share/robots/... or in /usr/local/share/yarp/robots/...).

Related resources:

• Update head IMU location for iCub Head v2 COM Express  icub-main#285
• Code to address iCub Head v2.5 icub-main#391
• added --head_version option for iKinGazeCtrl robots-configuration#13

[Tobias-Fischer]

Hi @pattacini,
I think we have the head 2.0 here on iCubLondon01. Could you please confirm this? If this is the case, we should update the files in robots-configuration for our robot as well.

Thanks a lot,
Tobi

[pattacini]

Hi @Tobias-Fischer,

What I did in robotology/robots-configuration#13 was to search for --headV2 and replace it with the new option. I didn't find anything for iCubLondon01, hence - presumably - from robots-configuration standpoint you've got an head 1.0.

Can you drop here a picture of the iCub neck? 😄

[Tobias-Fischer]

Hi @pattacini, okay, I see. Please find below the pics, I hope you can see what you need to see ..

[traversaro]

That's definitely a V2 neck.

[pattacini]

Yep, indeed! Thanks @Tobias-Fischer for the pictures.

[pattacini]

@Tobias-Fischer can we open a new issue on this?

I'm asking because I'm afraid there're other files to be updated (see the calibrators of iCubGenova01 for example).

[Tobias-Fischer]

Sure, I'll open the issue.