In https://github.com/robotology/icub-models-generator/pull/243 the location of the frames of the links of the soles ( with names like (r|l)_foot_(front|back) ) have been moved to the origin of the FT sensors that connect them with the (r|l)_ankle_2 link. All the quantities expressed in this frame have been automatically modified to account for its new location by the simmechanics-to-urdf script, except for the location of the assigned collision, that are hardcoded in the .yaml file . This created a regression, has it effectly moved the sole assigned collisions up, so the robot was actually touching the ground with the (r|l)_ankle_2 links, that do not have any contact parameter assigned.
traversaro
commented
9 months ago
Fix https://github.com/robotology/icub-models/issues/209 .
In https://github.com/robotology/icub-models-generator/pull/243 the location of the frames of the links of the soles ( with names like
(r|l)_foot_(front|back)) have been moved to the origin of the FT sensors that connect them with the(r|l)_ankle_2link. All the quantities expressed in this frame have been automatically modified to account for its new location by the simmechanics-to-urdf script, except for the location of the assigned collision, that are hardcoded in the .yaml file . This created a regression, has it effectly moved the sole assigned collisions up, so the robot was actually touching the ground with the (r|l)_ankle_2 links, that do not have any contact parameter assigned.This commit fixes the situation by taking the existing z value of the assigned collision origin, and adding the offset with which the other elements (visual, inertial) have been modified (see https://github.com/robotology/icub-models/commit/799ae070b9289e0db5b690b78dc14be34d6d9223#diff-9d811d6ae4a80f936a2466cdc3b852ac4fb6d6e3a4cd40d2c42e794f42d6415aL260), to obtain:
newCollisionZ = oldCollisionZ + (newVisualZ - oldVisualZ) = 0.003 + (0.9241470000000105 - 0.9464470000000105 ) = -0.0193