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hsp-iit / gazebo-yarp-digit-plugin

A tentative C++ wrapper for the Python based Digit tactile sensor simulation
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Problem when initializing object at the Gazebo origin #23

Open gabrielecaddeo opened 2 years ago

gabrielecaddeo commented 2 years ago

The problem consists of having the Idle output of the sensor as it is in the 0,0,0 location at the start. This means that, if the object is in that position, the idle output is as if the sensor was in contact. Need further investigation to understand

xEnVrE commented 2 years ago

Did you check which values are you passing to the rendering engine (i.e. camera and object pose) in that specific configuration?

gabrielecaddeo commented 2 years ago

Did you check which values are you passing to the rendering engine (i.e. camera and object pose) in that specific configuration?

I figure it out what is the problem, it never occurred before because I never initialized an object at the gazebo origin. It happens because we configure the camera with the config_digit_shadow.yaml in the tacto repo. I did not figured it out before because the object was never in this location. I think we should create our own configure file where putting this info and copying the other standard info

xEnVrE commented 2 years ago

Please go forward with the proposed solution.

Please feel free to open a PR to integrate the proposed change afterwards.

Thank you!