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icub-tech-iit / ergocub-software

Main collector of ergoCub specific SW
https://icub-tech-iit.github.io/ergocub-software/
BSD 3-Clause "New" or "Revised" License
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[ergoCubSN001] Disable FT sensors in URDF #200

Closed pattacini closed 9 months ago

pattacini commented 10 months ago

Task description

Following up on https://github.com/robotology/robots-configuration/pull/598#issuecomment-1841606958, we're requested to update the URDF of ergoCubSN001 to disable the FT sensors.

Definition of Done

cc @Nicogene @GiulioRomualdi

Nicogene commented 10 months ago

The arms FTs seems already there:

https://github.com/icub-tech-iit/ergocub-software/blob/54e090910392177c176c1c1748bb02745fc1191b/urdf/ergoCub/robots/ergoCubSN001/model.urdf#L3262-L3275

https://github.com/icub-tech-iit/ergocub-software/blob/54e090910392177c176c1c1748bb02745fc1191b/urdf/ergoCub/robots/ergoCubSN001/model.urdf#L3350-L3363

@GiulioRomualdi which ones are missing?

AntonioConsilvio commented 10 months ago

Hi @Nicogene @pattacini, I think there was a little misunderstanding. The FTs on the shoulders have been disabled from configuration files due to malfunctioning, so the sensors should be disabled from the URDF to be compatible with the configuration files.

pattacini commented 10 months ago

Ok thanks @AntonioConsilvio for the heads-up 👍🏻 My bad! I've updated the OP and the title accordingly.

Nicogene commented 10 months ago

@GiulioRomualdi do you need this change in ergoCubSN001 or/and ergoCubGazeboV1_1 urdf?

Nicogene commented 10 months ago

PR:

GiulioRomualdi commented 10 months ago

@GiulioRomualdi do you need this change in ergoCubSN001 or/and ergoCubGazeboV1_1 urdf?

Sorry, I completely missed the message :( We need to remove them from ergoCubSN001 no need from ergoCubGazeboV1_1

Nicogene commented 10 months ago

@GiulioRomualdi do you need this change in ergoCubSN001 or/and ergoCubGazeboV1_1 urdf?

Sorry, I completely missed the message :( We need to remove them from ergoCubSN001 no need from ergoCubGazeboV1_1

I am afraid that I have to remove it also from ergoCubGazeboV1_1 since I have to remove the nws for those ft from the xml that is common between all the models.

But if the model ergoCubSN001 is used without launghing the yarprobotinterface plugin I can remove them only from that urdf and keep the ergocub.xml unchanged.

cc @traversaro

GiulioRomualdi commented 10 months ago

In this case i think we should update wbd xml file. Are there 2 separate files for gazebov1 and gazebov1_1?

traversaro commented 10 months ago

Related to https://github.com/robotology/whole-body-estimators/issues/32, that should simplify doing this.

Nicogene commented 10 months ago

In this case i think we should update wbd xml file. Are there 2 separate files for gazebov1 and gazebov1_1?

Unfortunately not, it was not needed until now, but I would avoid adding an xml file for this temporary situation

Nicogene commented 9 months ago

They have been re-enabled: