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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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[iCubGenova09/iCubGazeboV3] Check hip ft sensors #71

Closed Nicogene closed 3 years ago

Nicogene commented 4 years ago

After the fix of ft sensors representation(https://github.com/robotology/icub-models-generator/pull/176), the arms and feet ft sensors in home position measure positive Fz.

On the hip ft sensors, the Fz is negative, unfortunately, these have not been mounted yet on the real robot so we are not sure how they have to be placed.

Once we know it we eventually invert the directionChildToParent flag

traversaro commented 3 years ago

Can we close this after https://github.com/robotology/icub-models-generator/pull/185 ? Or we still need to check it?

Nicogene commented 3 years ago

The frames of the FT in the hip seems wrong, but for now are not mounted on the real robot, and disabled from the urdf model see https://github.com/robotology/icub-models-generator/pull/193#discussion_r547317745