iCubV2_*: Fix measure of arm ft sensors

It fixes #233. Basically the problem is that in the child link of the ft sensor joints of the arms we do not have the CSYS, then we are taking it from the parent link. Putting `frame` to `child` make that the `pose` is referring to the correct frame
robotology · Mar 14, 2024 · 5b0d72d · 5b0d72d
1 parent 5e4d704
commit 5b0d72d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
@@ -644,7 +644,7 @@ forceTorqueSensors:
   - jointName: l_arm_ft_sensor
     directionChildToParent: Yes
     exportFrameInURDF: Yes
-    frame: sensor
+    frame: child
     frameName: SCSYS_L_UPPER_ARM_FT45
     linkName: l_shoulder_3
     sensorName: l_arm_ft
@@ -656,7 +656,7 @@ forceTorqueSensors:
   - jointName: r_arm_ft_sensor
     directionChildToParent: Yes
     exportFrameInURDF: Yes
-    frame: sensor
+    frame: child
     frameName: SCSYS_R_UPPER_ARM_FT45
     linkName: r_shoulder_3
     sensorName: r_arm_ft