From 77a3d57c3b088c459fc5713abc7a0e26d4093aef Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Wed, 20 Sep 2023 12:32:00 +0200 Subject: [PATCH 1/2] Modify origin of assigned collisions for sole links In https://github.com/icub-tech-iit/ergocub-software/pull/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 https://github.com/icub-tech-iit/ergocub-software/commit/aae9cd689de40f900512fc1ad6a9c0c9b110d02b#diff-4a8f86568a5c3c3a54aa41e5ae088cbcb40bbfd3a63077a9d2c760840494cf1fL239), to obtain: newCollisionZ = oldCollisionZ + (newVisualZ - oldVisualZ) = 0.003 + (0.9335 - 0.9558 ) = -0.0193 --- urdf/simmechanics/CMakeLists.txt | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/urdf/simmechanics/CMakeLists.txt b/urdf/simmechanics/CMakeLists.txt index 53f18f75..2b70b368 100644 --- a/urdf/simmechanics/CMakeLists.txt +++ b/urdf/simmechanics/CMakeLists.txt @@ -123,22 +123,22 @@ macro(generate_ergocub_simmechanics) geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" - linkName: r_foot_rear geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" - linkName: l_foot_front geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" - linkName: l_foot_rear geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" ") endif() @@ -149,22 +149,22 @@ macro(generate_ergocub_simmechanics) geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" - linkName: r_foot_rear geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" - linkName: l_foot_front geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" - linkName: l_foot_rear geometricShape: shape: box size: 0.117 0.100 0.006 - origin: \"0.0 0.0 0.003 0.0 0.0 0.0\" + origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\" - linkName: r_hip_1 geometricShape: shape: box From 8d62dab22b524615085603e590e6ea8609a1aa84 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Wed, 20 Sep 2023 14:03:16 +0200 Subject: [PATCH 2/2] Update CHANGELOG.md --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index e9748620..9d147402 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ## [Unreleased] +- Fixed regression in 0.3.4 that moved (in Gazebo-related models) the collision of the sole links to be higher, resulting in the `(r|l)_ankle_2` link being in contact with the ground and resulting in unstable contacts when using the models in Gazebo Classic (https://github.com/icub-tech-iit/ergocub-software/issues/174, https://github.com/icub-tech-iit/ergocub-software/issues/175) + ## [0.3.4] - 2023-08-28 ### urdf