Decide how to manage the files to generate the URDF models of the robot

[fiorisi]

Task description

Currently we have one Creo Mechanism model and one set of simmechanic-to-urdf files to generate the ergoCub URDF model. With the new robot version we have to find a way to manage the source files to generate different URDF models.

Definition of done

Decision made about how to handle and where to store the files to generate the models.

[fiorisi]

Today with @Nicogene and @Lawproto we had a preliminary discussion to address this issue.
We agreed that it is necessary to rename the current Creo Mechanism files including the robot version (i.e. 1.0) and create a copy for the new robot version (i.e. 1.1). The latter will be updated with the changes made in the CAD model.
We still have to decide where to store the files of the Creo Mechanism model. Here some ideas that we discussed, @Nicogene and @Lawproto feel free to integrate.

Possible solutions

Keep the Creo Mechanism model files in cad-mechanics
In cad-mechanics we create different folders that track the different versions of the robot (e.g. 1.0, 1.1, etc).

• PROS
  • tbd
• CONS
  • If a robot doesn't belong to a version (e.g. as a consequence of an upgrade) doesn’t have its Creo Mechanism model (and possibly URDF).
  • Alignment between the Creo Mechanism model and the simmechanics-to-urdf files difficult.

Move the Creo Mechanism model files together with the simmechanics-to-urdf files
In ergocub-software we create different folders that track the different versions of the robot (e.g. 1.0, 1.1, etc) and we move the Creo Mechanism files in dedicated sub-folders.

• PROS
  • Alignment between the Creo Mechanism model and the simmechanics-to-urdf files easy.
• CONS
  • If a robot doesn't belong to a version (e.g. as a consequence of an upgrade) doesn’t have its Creo Mechanism model (and possibly URDF).

Create a copy of the Creo Mechanism model in the specific robot snapshot
Move the Creo Mechanism files in dedicated sub-folders in each robot snapshot.

• PROS
  • Every robot with a snapshot has its Creo Mechanism model.
• CONS
  • If we find an error we have to fix all the Creo Mechanism models.
  • Alignment between the Creo Mechanism model and the simmechanics-to-urdf files difficult.

Action points

• Rename the Creo Mechanism files of the 1.0 version - @Lawproto
• Create a copy of the Creo Mechanism model for the 1.1 version - @Lawproto
• Update the simmechanics-to-urdf files for the 1.0 version - @Nicogene

cc @traversaro @pattacini @icub-tech-iit/silo-mech