Sole skin layout in configuration files and kinematic model do not match

[BoPot]

Bug description

The triangle layout in both right and left sole skin .ini files (right_foot.ini and left_foot.ini) is different from their layout in model.urdf
More precisely, the top patch is differently rotated.

@matejhof @rustlluk @traversaro

Steps to reproduce

My code for plotting taxels based on triangle positions from .ini file: read_ini.py
My code for plotting taxels based on triangle positions from .urdf file: skin_from_urdf.py

Expected behavior

No response

Example repository

No response

Additional context

Results of the visualization for left foot (see the difference in top patch):

Positions from left_foot.ini

Positions from model.urdf

Also compared the visualizations to the picture inserted in ini generator left_foot_ini_generator.xlsx (see the "top" sheet). The layout there corresponds to the one in model.urdf

[pattacini]

cc @maggia80 @fiorisi @simeonedussoni

[maggia80]

@BoPot you are right there is a mismatch from the assembly notes:
AN2013_ICUB_FOOT_0001.pdf
and the ini generator file.

The position you reconstruct is the correct one wrt the real robot.

[pattacini]

Hi @BoPot

We've planned to work on this fix at the beginning of September.
I think this is not blocking you anyhow.

/remind September 04.

[octo-reminder]

⏰ Reminder
Monday, September 4, 2023 10:00 AM (GMT+02:00)

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[BoPot]

Hi,
thank you for the info @maggia80 .
@pattacini No, it is not blocking me, now that I know which layout is correct, I can make the calibration. I will make a pull request once it is ready.

[rustlluk]

Hi all,
We have been testing position files extracted from the URDF model, and this issue may be more complicated.

Triangle IDs in our test are like this: URDF = assembly notes and .ini = real robot (iCubPrague01).
See the attached video. When touching the left foot, skinGui shows the correct movement, but visualization that uses position files extracted from URDF has the triangles in wrong order. When the triangles in position files are reordered based on triangle IDs from the .ini files, it works as expected.

So, it may be worth testing it on some of your robots before making changes to the .ini files.

iCubPrague01_left_foot.mp4

[octo-reminder]

🔔 @pattacini

.

[pattacini]

@simeonedussoni will be dealing with this issue during this sprint.

[pattacini]

Related PR:

• fixing URDF for left- and right-foot-skin icub-models-generator#248

[pattacini]

PR merged with this follow-up:

• Corrected misalignment between generator and .ini file #912