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robotology / icub-models-generator

Resources and programs to generated models (URDF, SDF) of the iCub robot
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iCubV2_*: Fix measure of arm ft sensors #265

Closed Nicogene closed 3 months ago

Nicogene commented 3 months ago

It fixes #233.

Basically the problem is that in the child link of the ft sensor joints of the arms we do not have the CSYS, then we are computing the pose wrt the parent link. Since the frame of the ft sensor should be the joint frame (i.e. the child link frame) setting frame to child make that the pose is referring to the correct frame and the measure is now correct.

cc @martinaxgloria

traversaro commented 3 months ago

This indeed would fix https://github.com/robotology/icub-models-generator/issues/233, but only w.r.t. to the FT sensors, while the IMU associated with the FT sensor would still be wrong, right? That is still an improvement, so if you think it make sense to merge please let me know and we can merge. @martinaxgloria @Nicogene

Nicogene commented 3 months ago

while the IMU associated with the FT sensor would still be wrong, right? That is still an improvement, so if you think it make sense to merge please let me know and we can merge.

Yes I think we can merge and then think what to do on IMUs, at lest the FT should be ok now