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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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Name of joint "*_hand_finger" differ between simulation and the real robot iCubGazeboV2_5_visuomanip #210

Closed PasMarra closed 8 months ago

PasMarra commented 9 months ago

While using the model iCubGazeboV2_5_visuomanip in Gazebo I noticed that the name of the joint *_hand_fingers is different from that of real robots. For example, the configuration file for Gazebo is the following: https://github.com/robotology/icub-models/blob/9f5e04bbb0c119bb045db88ee333ac55d616cd92/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini#L15

while the name of the same joint, taken from the documentation of the real robot is as follows:

image

i.e. without the final s. Should I open a PR to fix that?

traversaro commented 9 months ago

Sorry, I forgot to reply. Yes, this is a bug. The correct one (by definition) is the one in the docs, if the model or the real robot does not match, they should be fixed. Please provide a PR, thanks!