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Missing "kinematic" links of the fingers skin in the URDF #79

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xEnVrE opened this issue Mar 17, 2023 · 5 comments · Fixed by #80
Closed

Missing "kinematic" links of the fingers skin in the URDF #79

xEnVrE opened this issue Mar 17, 2023 · 5 comments · Fixed by #80
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@Nicogene
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domain-software Related to Software prj-ergocub Related to ErgoCub Project team-fix Related to Team Fix

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@xEnVrE
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xEnVrE commented Mar 17, 2023 •
edited

At the moment, the following links representing the fingertip skin are available within the erboCubSN000 URDF:

r_hand_thumb_skin_0, ..., r_hand_thumb_skin_11
r_hand_index_skin_0, ..., r_hand_index_skin_11
r_hand_middle_skin_0, ..., r_hand_middle_skin_11
r_hand_ring_skin_0, ..., r_hand_ring_skin_11

l_hand_thumb_skin_0, ..., l_hand_thumb_skin_11
l_hand_index_skin_0, ..., l_hand_index_skin_11
l_hand_middle_skin_0, ..., l_hand_middle_skin_11
l_hand_ring_skin_0, ..., l_hand_ring_skin_11

Should not we have also additional links for the left/right little - or pinkie - fingers?

cc @Nicogene
@xEnVrE xEnVrE changed the title Missing "kinematic" links of the fingers skin Missing "kinematic" links of the fingers skin in the URDF Mar 17, 2023
@Nicogene
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Should not we have also additional links for the left/right little - or pinkie - fingers?

They should be there

ergocub-software/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml

Lines 477 to 513 in caf4c5d

# l_pinkie
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_0
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_0
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_1
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_1
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_2
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_2
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_3
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_3
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_4
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_4
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_5
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_5
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_6
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_6
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_7
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_7
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_8
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_8
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_9
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_9
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_10
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_10
- frameName: SCSYS_L_PINKIE_SKIN_TAXEL_11
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_11

ergocub-software/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml

Lines 663 to 698 in caf4c5d

- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_0
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_0
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_1
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_1
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_2
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_2
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_3
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_3
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_4
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_4
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_5
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_5
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_6
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_6
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_7
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_7
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_8
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_8
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_9
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_9
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_10
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_10
- frameName: SCSYS_R_PINKIE_SKIN_TAXEL_11
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_11

They are not in the generated urdf?

@Nicogene
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Ah! It doesn't :(

https://github.com/search?q=repo%3Aicub-tech-iit%2Fergocub-software+l_hand_pinkie_skin_3&type=code

But because there is a typo in the csys

ergocub-software/urdf/simmechanics/data/ergocub/SIM_ERGOCUB_1-0.xml

Line 3354 in caf4c5d

<displayName>"SCSYS_L_PINKY_SKIN_TAXEL_0"</displayName>

@Nicogene Nicogene self-assigned this Mar 17, 2023
@Nicogene Nicogene added team-fix Related to Team Fix prj-ergocub Related to ErgoCub Project domain-software Related to Software labels Mar 17, 2023
@xEnVrE
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xEnVrE commented Mar 17, 2023

They are not in the generated urdf?

Unless I am mistaken, I cannot find them in the urdf right now.

@Nicogene Nicogene mentioned this issue Mar 17, 2023
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@Nicogene
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Fix delivered in #80

@xEnVrE
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xEnVrE commented Mar 17, 2023

Thanks @Nicogene

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urdf: fixed taxels exportations for pinkies icub-tech-iit/ergocub-software
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@xEnVrE @Nicogene