fixing URDF for left- and right-foot-skin

[simeonedussoni]

as per this issue I swapped the corresponding reference frame coordinates to align the URDF to the actual hardware and skingui configuration

[traversaro]

Sorry, I need to have a table to check to double check the changes, based on the info on robotology/icub-main#899 :

Wrong ID (before)	Correct ID (after)
3	15
4	0
2	14
1	11
12	12
13	1
8	2
9	3
10	4
11	14
14	8
15	9
0	10

So, the frame of CORRECT ID should get the position that before was of Wrong ID.

The changes seems correct, but I have a few doubts regarding this PR for @simeonedussoni :

• the issue Sole skin layout in configuration files and kinematic model do not match icub-main#899 reports the mismatch on the left sole, is the mapping on the right sole the same?
• the issue Sole skin layout in configuration files and kinematic model do not match icub-main#899 reports the mismatch on the left sole, but this PR only modifies the right sole, there is any reason for this?
• If also the image in https://github.com/robotology/icub-main/blob/master/app/skinGui/iniGenerators/left_foot_ini_generator.xlsx is wrong, shouldn't we also either remove or change that?

I also had another doubt, that anyhow is not directly related to this PR. It seems that all the SCSYS_*_FOOT_SKIN_* and *_foot_skin_* frames share the same orientation. However, I tought that without an orientation it is not possible to orient the triangles and localize correctly the single taxel in 3D. However, checking the code to visualize the taxel positions in https://gitlab.fel.cvut.cz/body-schema/icub/icub-skin-calibration/-/blob/main/skin_models/skin_from_urdf.py#L34 does not use the orientation from the URDF and in https://github.com/robotology/icub-models-generator/blob/master/simmechanics/scripts/generate_taxels_3d_positions.py#L339, apparently the orientation from the .ini is the one used to orient the triangles.

[simeonedussoni]

orientation

concerning the orientation, I also had this doubt. but if the orientations are wrong, one should see overlapping triangles in the plot, which is not the case, so the orientation info is taken elsewhere...

I go on by correcting the left foot.

[simeonedussoni]

actually I was heavily misled by the plot which seems a right foot. I check the right foot mounting.

[simeonedussoni]

I confirm the right foot patch has the same orientation as the left foot so the modifications already made are ok.

[simeonedussoni]

modified also the left foot, @traversaro and @pattacini

[traversaro]

Should we also update https://github.com/robotology/icub-main/blob/master/app/skinGui/iniGenerators/left_foot_ini_generator.xlsx and https://github.com/robotology/icub-main/blob/master/app/skinGui/iniGenerators/right_foot_ini_generator.xlsx ? From robotology/icub-main#899 it seems that also the images with the id there are wrong.

[pattacini]

I would say yes!
cc @simeonedussoni

[pattacini]

Should we also update https://github.com/robotology/icub-main/blob/master/app/skinGui/iniGenerators/left_foot_ini_generator.xlsx and https://github.com/robotology/icub-main/blob/master/app/skinGui/iniGenerators/right_foot_ini_generator.xlsx ? From robotology/icub-main#899 it seems that also the images with the id there are wrong.

cc @simeonedussoni

[traversaro]

FYI @simeonedussoni @pattacini do you still want to integrate this change?

[pattacini]

FYI @simeonedussoni @pattacini do you still want to integrate this change?

Definitely!
Kind reminder for @simeonedussoni

[simeonedussoni]

I checked the file mentioned by @traversaro above.

• left foot: it seems the file in the iniGenerator folder has the correct positions and just the picture is misaligned (that is sounding since otherwise the .ini generated should have had the uncorrect triangles placement
• right foot the same. the only misalignment is at the level of the applied labels to the picture, the positions generated are coherent with the .ini.

opened PR in icub-main

[traversaro]

Ok, thanks!