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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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iCub 2.x - The order of torso joints is wrong in latest devel #191

Closed xEnVrE closed 1 year ago

xEnVrE commented 1 year ago

According to the official documentation, the correct order of the torso joints for the iCub 2.x should be:

image

i.e., torso_yaw, torso_roll and then torso_pitch.

icub-models v1.26.0 enforces the correct order:

https://github.com/robotology/icub-models/blob/6e3a79d8520d74e549716e66f2f549e9e2cf3817/iCub/conf/gazebo_icub_torso.ini#L27

However, in the latest devel, torso_roll and torso_pitch are swapped:

https://github.com/robotology/icub-models/blob/f90f0d60c1e461133bfa2638fa689de1635daec8/iCub/conf/gazebo_icub_torso.ini#L3

This is breaking all the software making use of forward kinematics routines.

Is this intended or is it just an error?

xEnVrE commented 1 year ago

cc @traversaro

xEnVrE commented 1 year ago

It seems the source of the error is here:

https://github.com/robotology/icub-models-generator/commit/c9e5e08fcfecbce48138662d891d9131fe3e3908#diff-1dc880f789fa7a9b157372ceb878d57d08af4ed374e5a50daba6ae9578ef3c4b

traversaro commented 1 year ago

I think it is an error, feel free to open a PR to fix it, I will do it once I am in front of the laptop. fyi @Nicogene

Nicogene commented 1 year ago

It seems the source of the error is here:

robotology/icub-models-generator@c9e5e08#diff-1dc880f789fa7a9b157372ceb878d57d08af4ed374e5a50daba6ae9578ef3c4b

Nice catch! Yes my bad, I probably copy-pasted from icub 3