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robotology / icub-models-generator

Resources and programs to generated models (URDF, SDF) of the iCub robot
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iCubGenova09: Add FT sensor to right upper leg #218

Closed mfussi66 closed 2 years ago

mfussi66 commented 2 years ago

As per title, this PR adds the FT sensor on the right leg of iCub3 to reflect the addition on the real robot.

Its transformation relative to the root link is the following:

-0.866025  -0.5        0
-0.5        0.866025   0
 0          0         -1

Which corresponds to the transform in the CAD, and therefore it corresponds to the way it is mounted: MicrosoftTeams-image

cc @S-Dafarra @pattacini

Nicogene commented 2 years ago

Actually the problem is that the left leg sensor is missing:

https://github.com/robotology/icub-models-generator/blob/a57abd304d818a2199b6a0b097866777d455db13/tests/icub-model-test.cpp#L375-L379

mfussi66 commented 2 years ago

Actually the problem is that the left leg sensor is missing:

Yep @Nicogene , only the right one was mounted on the robot. I guess changing the test to check against zero should suffice.

Nicogene commented 2 years ago

Yep @Nicogene , only the right one was mounted on the robot. I guess changing the test to check against zero should suffice.

Yes, then if it is intentional it is fine to change the test

mfussi66 commented 2 years ago

Additionally, I think I'll need to change the check on the correct orientation of the sensor: https://github.com/robotology/icub-models-generator/blob/a57abd304d818a2199b6a0b097866777d455db13/tests/icub-model-test.cpp#L440-L465

GiulioRomualdi commented 2 years ago

cc @isorrentino

traversaro commented 2 years ago

@mfussi66 are we waiting for something or can we merge?

mfussi66 commented 2 years ago

@mfussi66 are we waiting for something or can we merge?

I was waiting for the approval from @Nicogene, on my side I think we can merge.

pattacini commented 2 years ago

Shall we merge?