Fix iCubV3 r_wrist_yaw joint

robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.

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Fix iCubV3 r_wrist_yaw joint #111

Closed lrapetti closed 2 years ago

lrapetti commented 2 years ago

Following https://github.com/robotology/icub-models/issues/93, with this PR I am temporary fixing the r_wrist_yaw description for both iCubGazeboV3 and iCubGenova09 by:

converting joint type from continuous to revolute
adding joint limits from l_wrist_yaw (they should be the same limits since the yaw rotation axis in left and right hand are opposite
adding damping and friction values used for all the other joints

traversaro commented 2 years ago

I understand the need for the hot fix, but the problem is that as soon as a new commit is done in icub-model-generator is done, this change will be overwritten and I am quite afraid that I forget about it. Can't we do a simple script (even that just applies a patch to these models) in the icub-model-generator repo? In that way we have the fix in place until we found a proper solution, but we do not risk of forgetting about it. We can also just manually fix the simmechanics file, that is robust as it will be in place until we (again manually) update the simmechanics file generated from Creo.

Nicogene commented 2 years ago

Closing in favour of https://github.com/robotology/icub-models-generator/pull/214