ergoCubGazeboV1: make ft frame centered on z w/ the link frame #158
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traversaro
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Aug 7, 2023
This was referenced Aug 31, 2023
traversaro
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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
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It fixes #146
This is the twin pr of robotology/icub-models-generator#243