Fix location of collision element in iCubGazeboV3 model #251
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Fix robotology/icub-models#209 . In #243 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_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 robotology/icub-models@799ae07#diff-9d811d6ae4a80f936a2466cdc3b852ac4fb6d6e3a4cd40d2c42e794f42d6415aL260), to obtain: newCollisionZ = oldCollisionZ + (newVisualZ - oldVisualZ) = 0.003 + (0.9241470000000105 - 0.9464470000000105 ) = -0.0193
traversaro
changed the title
Nicogene
approved these changes
Sep 20, 2023
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Similar to icub-tech-iit/ergocub-software#175 . |
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Fix robotology/icub-models#209 .
In #243 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 robotology/icub-models@799ae07#diff-9d811d6ae4a80f936a2466cdc3b852ac4fb6d6e3a4cd40d2c42e794f42d6415aL260), to obtain:
newCollisionZ = oldCollisionZ + (newVisualZ - oldVisualZ)
= 0.003 + (0.9241470000000105 - 0.9464470000000105 )
= -0.0193