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icub-tech-iit / ergocub-gazebo-simulations

Repository containing the models and the simulations for ergoCub
BSD 3-Clause "New" or "Revised" License
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Analyze joint modifiers of torso #9

Closed CarlottaSartore closed 2 years ago

CarlottaSartore commented 2 years ago

By looking at the modifiers defined for the torso :

https://github.com/icub-tech-iit/ergocub-gazebo-simulations/blob/438c7a3e285e4e3ec7a8c9c7c6b24aefdd038565/scripts/modifiers.py#L251-L261

I noticed that the torso roll is not present, even though its parent link (i.e. root_link) is modified

https://github.com/icub-tech-iit/ergocub-gazebo-simulations/blob/438c7a3e285e4e3ec7a8c9c7c6b24aefdd038565/models/stickBot/model.urdf#L643-L650

Which is the reason ? is it because the origin is in zero?

C.C. @AlexAntn @Nicogene @GrmanRodriguez

AlexAntn commented 2 years ago

By looking at the modifiers defined for the torso :

https://github.com/icub-tech-iit/ergocub-gazebo-simulations/blob/438c7a3e285e4e3ec7a8c9c7c6b24aefdd038565/scripts/modifiers.py#L251-L261

I noticed that the torso roll is not present, even though its parent link (i.e. root_link) is modified

https://github.com/icub-tech-iit/ergocub-gazebo-simulations/blob/438c7a3e285e4e3ec7a8c9c7c6b24aefdd038565/models/stickBot/model.urdf#L643-L650

Which is the reason ? is it because the origin is in zero?

C.C. @AlexAntn @Nicogene @GrmanRodriguez

Yes, since it rotates on 0.0 0.0 0.0, it is not affected by changes in the dimension of the parts, so it is not transformed. We could include there the transformation, for completeness sake, but it would (should...) do nothing.