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Asimmetry of ~0.1 millimeters between the soles of iCubGazeboV2_5 in x and y direction #125

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traversaro opened this issue Oct 29, 2019 · 1 comment
Open

Asimmetry of ~0.1 millimeters between the soles of iCubGazeboV2_5 in x and y direction #125

traversaro opened this issue Oct 29, 2019 · 1 comment

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@traversaro
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See #122 (comment) .
traversaro added a commit that referenced this issue Oct 29, 2019
@traversaro
Increase tolerance as a workaround for known asimmetry
07d50fd 
See #125
@traversaro
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There is also a small assimettry on the y (see https://travis-ci.org/robotology/icub-model-generator/builds/604550171?utm_source=github_status&utm_medium=notification)

icub-model-test : base_link test performed correctly 

icub-model-test error: l_sole_y is -0.0701752, while r_sole_y is 0.0700861 while they should be simmetric (diff : 8.91e-05 )

      Start  7: iCubGazeboV2_5_plusConsistencyCheck

 7/11 Test  #7: iCubGazeboV2_5_plusConsistencyCheck ...   Passed    0.03 sec

      Start  8: iCubGenova01ConsistencyCheck

 8/11 Test  #8: iCubGenova01ConsistencyCheck ..........***Failed    0.02 sec

icub-model-test : base_link test performed correctly 

icub-model-test error: l_sole_y is -0.0701752, while r_sole_y is 0.0700861 while they should be simmetric (diff : 8.91e-05 )

      Start  9: iCubGenova02ConsistencyCheck

 9/11 Test  #9: iCubGenova02ConsistencyCheck ..........   Passed    0.04 sec

      Start 10: iCubGenova04ConsistencyCheck

10/11 Test #10: iCubGenova04ConsistencyCheck ..........***Failed    0.02 sec

icub-model-test : base_link test performed correctly 

icub-model-test error: l_sole_y is -0.0701752, while r_sole_y is 0.0700861 while they should be simmetric (diff : 8.91e-05 )

      Start 11: iCubDarmstadt01ConsistencyCheck

11/11 Test #11: iCubDarmstadt01ConsistencyCheck .......***Failed    0.02 sec

icub-model-test : base_link test performed correctly 

icub-model-test error: l_sole_y is -0.0701752, while r_sole_y is 0.0700861 while they should be simmetric (diff : 8.91e-05 )

@traversaro traversaro changed the title Asimmetry of 0.1 millimeters between the soles of iCubGazeboV2_5 Asimmetry of ~0.1 millimeters between the soles of iCubGazeboV2_5 in x and y direction Oct 29, 2019
traversaro added a commit that referenced this issue Nov 29, 2019
@traversaro
Add legs FT IMU frames (#122)
6e6ac9f 
# Fix the way the FT IMU frames are added
- add individual accelerometer and gyroscope type frames to the associated IMU frame
- fix naming conventions - sensorName to be all in small letters
- do not export these frames as zero-mass links in the urdf
- just add these frames as sensor frames to the associated link

# Use latest known working version of deps: 
Use latest confirmed working version of urdf_parser_py
Using urdf_parser_py's commit 31474b9baaf7c3845b40e5a9aa87d5900a2282c3,
that precedes the regression introduced in
ros/urdf_parser_py#26 (ros/urdf_parser_py#26)
and discussed in
robotology/simmechanics-to-urdf#36 (robotology/simmechanics-to-urdf#36).
The commit used is based from the info contained in this icub-models commit:
robotology/icub-models@b69b989 (robotology/icub-models@b69b989).

* Increase tolerance as a workaround for known asimmetry, see #125
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@traversaro