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robotology / icub-models-generator

Resources and programs to generated models (URDF, SDF) of the iCub robot
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iCubGazeboV2_* and iCubGenova11 : the frames of the ft sensors in the arms seems wrong – Stint 2 #271

Open Nicogene opened 5 months ago

Nicogene commented 5 months ago

This is the follow-up of

In particular we should clarify what is wrong, what this PR fixed:

And what are our options for fixing the representation of the frames, if I recall correctly the frames are correctly placed in the urdf, but then the measure is expressed wrt a wrong frame, because the csys is in the parent link of the assembly, see:

cc @traversaro

traversaro commented 5 months ago

Correct me if I am wrong, but reading https://github.com/robotology/icub-models-generator/issues/233 from top to bottom it seems that the FT sensor frames were correctly fixed but the frames of the IMU sensors connected to the IMU are still wrong? In this case, does it make sense to fix the name of the issue?