ergoCubGazeboV1: make ft frame centered on z w/ the link frame #158
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
11 tasks
traversaro
approved these changes
Aug 7, 2023
This was referenced Aug 31, 2023
traversaro
added a commit
that referenced
this pull request
Sep 20, 2023
In #158 the location of the frames of the links of the soles ( (r|l)_foot_(front|back) ) have been moved to the origin of the FT sensors that connect them with the (r|l)_ankle_2 link. All the quantities expressed in this frame have been automatically modified to account for its new location by the simmechanics-to-urdf script, except for the location of the assigned collision, that are hardcoded in the .yaml file . This created a regression, has it effectly moved the sole assigned collisions up, so the robot was actually touching the ground with the (r|l)_ankle_2 links, that do not have any contact parameter assigned. This commit fixes the situation by taking the existing z value of the assigned collision origin, and adding the offset with which the other elements (visual, inertial) have been modified (see aae9cd6#diff-4a8f86568a5c3c3a54aa41e5ae088cbcb40bbfd3a63077a9d2c760840494cf1fL239), to obtain: newCollisionZ = oldCollisionZ + (newVisualZ - oldVisualZ) = 0.003 + (0.9335 - 0.9558 ) = -0.0193
# for free
to join this conversation on GitHub.
Already have an account?
# to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
It fixes #146
This is the twin pr of robotology/icub-models-generator#243