The orientation of the waist_imu_0 frame in the urdf of ergoCubSN000 does not match the frame on the real sensor

[isorrentino]

Using data from the waist_imu_0 I noticed that the orientation of the frame waist_imu_0 in the urdf of ergoCubSN000 does not match the frame attached to the sensor.

Here, starting from the frame shown in the documentation, I drew the rotated frame on the sensor mounted on ergoCub.

Here, starting from the frame shown in the documentation, I drew the frame rotated on the photo of the image mounted on the root_link.

Here instead, I visualized the frame waist_imu_0 using the ergoCub urdf.

Here is the matlab script I used.

Click here to see the code.

```MATLAB %% Settings robotName='ergoCubSN000'; %% Name of the robot testFrames = {'waist_imu_0'}; %% The frames to display modelPath = ''; fileName='model.urdf'; %% Name of the urdf file jointOrder={ %% The list and the order of the joints 'r_hip_pitch'; 'r_hip_roll'; 'r_hip_yaw'; 'r_knee'; 'r_ankle_pitch'; 'r_ankle_roll'; 'l_hip_pitch'; 'l_hip_roll'; 'l_hip_yaw'; 'l_knee'; 'l_ankle_pitch'; 'l_ankle_roll'; 'torso_pitch'; 'torso_roll'; 'torso_yaw'; 'r_shoulder_pitch'; 'r_shoulder_roll'; 'r_shoulder_yaw'; 'r_elbow'; 'r_wrist_prosup'; 'r_wrist_pitch'; 'r_wrist_yaw'; 'l_shoulder_pitch'; 'l_shoulder_roll'; 'l_shoulder_yaw'; 'l_elbow'; 'l_wrist_prosup'; 'l_wrist_pitch'; 'l_wrist_yaw'; 'neck_pitch'; 'neck_roll'; 'neck_yaw' }; groundFrame = 'l_sole'; %% The frame where to place the ground rootLink = 'root_link'; %% The base link joints_positions=zeros(length(jointOrder),1); %% The joints'position printModel = true; %% Define if the model has to be printed on the command window %% No need to edit from here % Main variable of iDyntreeWrappers used for many things including updating % robot position and getting world to frame transforms KinDynModel = iDynTreeWrappers.loadReducedModel(jointOrder, rootLink, modelPath,fileName,false); if printModel KinDynModel.kinDynComp.model().toString() %%Print model end % Set initial position of the robot iDynTreeWrappers.setRobotState(KinDynModel,eye(4),joints_positions,zeros(6,1),zeros(size(joints_positions)),[0,0,-9.81]); groundFrameTransform = iDynTreeWrappers.getWorldTransform(KinDynModel, groundFrame); world_H_base = groundFrameTransform^-1; iDynTreeWrappers.setRobotState(KinDynModel,world_H_base,joints_positions,zeros(6,1),zeros(size(joints_positions)),[0,0,-9.81]); % Prepare figure, handles and variables required for the update, some extra % options are commented. [visualizer,objects]=iDynTreeWrappers.prepareVisualization(KinDynModel,meshFilePrefix,... 'color',[1,1,1],'transparency',1, 'name', ['Plot frame ', robotName], 'reuseFigure', 'name'); xlim([-0.5, 0.5]) ylim([-0.5, 0.5]) zlim([-0.05, 1.4]) for t = 1 : length(testFrames) frameTransform = iDynTreeWrappers.getWorldTransform(KinDynModel, testFrames{t}); testFramesObjects{t} = iDynTreeWrappers.plotFrame(frameTransform, 0.2, 5); end ```

cc @GiulioRomualdi

[martinaxgloria]

I open a PR here

• https://github.com/icub-tech-iit/ergocub-software/pull/121

cc @Nicogene @isorrentino

[Nicogene]

@isorrentino if you confirm that now is fixed we can close this issue, thanks!

[isorrentino]

@Nicogene @martinaxgloria now it is correct, see here

Thank you all.