Move the linkFrames in case of the axis of the joint does not pass through the csys #106
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Right now I am handling the Moreover, I am always invoking |
src/creo2urdf/src/Creo2Urdf.cpp
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| // Convert modelToExport in a URDF-compatible model (using the default base link) | ||
| iDynTree::Model modelToExportURDFCompatible; | ||
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| bool ok = iDynTree::moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink(mdl, modelToExportURDFCompatible); |
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I am a bit afraid in doing this unconditionally, as it could hide some bugs in the assignment of the frames in the models in which all the link frames are assigned. Perhaps we could do this only if link frames are not assigned, or have an explicit option to enable this mode that is off on models that do not need it?
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Perhaps we could do this only if link frames are not assigned
Personally I'm in favour of this as it would avoid complicating the yaml.
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@mfussi66 @traversaro in the latest commit I changed a little bit the state flow:
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src/creo2urdf/src/Creo2Urdf.cpp
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| idyn_model.visualSolidShapes().getLinkSolidShapes()[idyn_model.getLinkIndex(urdf_child_link_name)][0]->setLink_H_geometry(oldChild_H_newChild.inverse() * link_H_visual_solid_shape); | ||
| // Check if the axis is aligned with the link frame | ||
| if ( parent_link_frame == "CSYS" || idyn_axis.getDistanceBetweenAxisAndPoint(iDynTree::Position::Zero()) > 1e-7 ) { | ||
| printToMessageWindow("The axis " + axis_name + " of "+ joint_name+ " is not aligned with the link frame " + parent_link_frame + ", the axis will be moved to the link frame in order to be urdf-compliant", c2uLogLevel::WARN); |
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I am a bit dubious about printing this as a warning. In the case of iCub 2.7, this is expected, and adding warning that can't be fixed is typically a good way to ensure that people actually do not check warnings. Anyhow, this is non blocking.
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Actually that if is not correct, because that distance will be never > 0, I put the PR in draft until I fix it
Nicogene
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@mfussi66, @traversaro I managed to correctly handle when moving the frames, only when it is not user-specified (i.e. Creo2urdf exports both ergocub and iCub correctly now. Moreover, I removed the warning, since there is already plenty of and they can be confusing for the user. Merging! |
Awesome! I'll try that with other models |
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This feature is available in the latest release: |
It fixes:
Thanks heap to @traversaro who added the required feature to idyntree.
This version of
creo2urdfis able to export the urdf from the mistreated icub 2.5 simulation model, see: