Wrong bodyPartId is assigned to skin on legs in skinContactList on /skinManager/skin_events:o

[rustlluk]

Bug description

When reading data through skinManager on /skinManager/skin_events:o (Reading High Level Contact Data
), skin on legs (LEFT/RIGHT_LEG_UPPER, LEFT/RIGHT_LEG_LOWER, LEFT/RIGHT_FOOT) get correct skinPart assigned with respect to skinPart enum in skinDynLib/common.h, but bodyPartId is always 0 (BODY_PART_UNKNOWN).

Steps to reproduce

Run skinManager with any config that contains skin on legs and read data on /skinManager/skin_events:o

Expected behavior

The correct bodyPartId for skin on left leg should be 5 (LEFT_LEG), and 6 (RIGHT_LEG) for the right leg. From BodyPart enum.

Example repository

No response

Additional context

The error is probably coming from not having the association of skin on legs to body part in SkinPart_2_BodyPart in skinDynLib/common.h and thus function iCub::skinDynLib::getBodyPart(SkinPart s) returns BODY_PART_UNKNOWN. But I am not brave enough to compile and test the library on our robot :)

[pattacini]

Thanks @rustlluk for reporting 👍🏻
We will probably deal with this while checking #932.

[traversaro]

@rustlluk do you actually are using bodyPartId somewhere? That part of the code is quite iCub-centric, and it would be great to make it more general. However, to do so we would need to understand how people are actually using data like bodyPartId . See also the related PR #462, that was not merged back in time but it could be useful in making the code less iCub-centric and more generic.

[rustlluk]

Well, actually not. I would say that bodyPartId and linkNumber are redundant, as you can easily extract both from skinPart. @traversaro

I even looked to an old code I used with our Nao with skin and the only thing I did with bodyPartId was saving it to log.

[Nicogene]

Unfortunately the iCub we have here have not the legs, but I can backtrack the code that assigns the bodypart and try to fix it, the other parts are ok instead.