Mismatch between ergoCub 1_0 and 1_1 IMU sensor parent Links - Githubissues

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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Mismatch between ergoCub 1_0 and 1_1 IMU sensor parent Links #234

Open xela-95 opened 5 months ago

xela-95 commented 5 months ago

After #230 I tried to port the modifications manually also to the three urdf models generated from https://github.com/icub-tech-iit/ergocub-software/tree/master/urdf/creo2urdf/data/ergocub1_0 folder (ergoCubSN000, ergoCubGazeboV1, ergoCubGazeboV1_minContacts) but I encountered a mismatch between the parent link of the IMU sensors with respect to the models generated from https://github.com/icub-tech-iit/ergocub-software/tree/master/urdf/creo2urdf/data/ergocub1_1 (ergoCubSN001, ergoCubGazeboV1_1, ergoCubGazeboV1_1_minContacts).

For example in ergoCubGazeboV1_1: https://github.com/icub-tech-iit/ergocub-software/blob/59153cde6ca3b71298078739c6d7f3df1150b892/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf#L3698-L3707

while in ergoCubGazeboV1 is: https://github.com/icub-tech-iit/ergocub-software/blob/59153cde6ca3b71298078739c6d7f3df1150b892/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf#L2896-L2904

This issue precludes the usage of the same .ini file for both models.

CC @traversaro