Preliminary files for simulation of the iCub humanoid robot in Gazebo (meshes courtesy of Joseph Salini - UPMC).

Install gazebo_yarp_plugins

Clone this repository:

git clone https://github.com/traversaro/icub_gazebo.git

Copy the icub directory contained in this repository in the directory ~/.gazebo/models/:

cp -avR ./icub_gazebo/icub ~/.gazebo/models/icub 

In the repository is also present a model of only the legs of the iCub, you can install it in the same way:

cp -avR ./icub_gazebo/icub_legs ~/.gazebo/models/icub_legs 

As the iCub Gazebo models uses Yarp, remember to start it before starting the simulation, using the following command in a console:

yarpserver 

Then, run Gazebo with the world file included in the world directory:

gazebo ./icub_gazebo/world/icub.world

or simply drag and drop the "iCub" model from the Insert tab in Gazebo. The same instructions work also for the icub_legs model.