Modify origin of assigned collisions in simmechanics-generated Gazebo-related models for sole links after sole link frame location was changed #175
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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
traversaro
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traversaro
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Fix #174 .
In #158 the location of the frames of the links of the soles ( with names like
(r|l)_foot_(front|back)) have been moved to the origin of the FT sensors that connect them with the(r|l)_ankle_2link. 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