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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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[iCubGazeboV3] right leg joints direction wrongly defined #61

Closed GiulioRomualdi closed 4 years ago

GiulioRomualdi commented 4 years ago

The direction of the right joint seems to be wrongly defined

This is r_hip_roll icub3-right_leg

This is for the ankle pitch icub3-right_ankle

Notice the ankle roll goes in HF for a specific value of ankle-pitch for this problem please check https://github.com/robotology/icub-models/issues/60

@traversaro and @Nicogene Similar issue: #57

GiulioRomualdi commented 4 years ago

Regarding r_hip_roll I'm pretty sure it's a bug so I can open a PR in the generator. Following robotology/icub-model-generator#150.

For the ankles, I don't know if it's wanted

traversaro commented 4 years ago

For the ankles, I don't know if it's wanted

As we don't have any document with the iCub3 direction, I guess the gold reference is the real robot.

GiulioRomualdi commented 4 years ago

https://github.com/robotology/icub-model-generator/pull/153 and https://github.com/robotology/icub-model-generator/pull/151 fix the problems