r_sole and l_sole are not centered

[Nicogene]

#22 added the unit tests that checks if l_sole and r_sole are parallel.

It gives the following error:

l_sole_y is 0.07435, while r_sole_y is -0.07445 while they should be simmetric (diff : 0.0001 )

sole_height and sole_x seems fine instead

cc @salvi-mattia @traversaro @mfussi66 @pattacini @Mick3Lozzo

[salvi-mattia]

in cad model they r parallel

and they are parallel in the SW mechanism

where does this misalignement came from??

[Nicogene]

I tried to compute from code the same transform as:

    iDynTree::Transform l_sole_H_r_sole = comp.getRelativeTransform(l_sole,r_sole);
    std::cerr<<"l_sole - r_sole "<<l_sole_H_r_sole.getPosition().toString()<<std::endl;

And I got:

l_sole - r_sole -5e-05 -0.1488 0

That is the same as the cad.

Since we are computing the alignment of the frames using the two transforms root_link_H_r_sole and root_link_H_l_sole, maybe the root_link frame is not perfectly centered?

cc @fiorisi @traversaro @Mick3Lozzo @salvi-mattia

[salvi-mattia]

the two soles' CSYS are off center
@Mick3Lozzo is investigating

[Mick3Lozzo]

The problem is the placement of the upper body on the lower body, is merely a CAD assembling problem.

⬆️Between the bright green supports of the torso pitch motor and the dark green plate housing the torso yaw motor, there is a 0.1 mm gap which is necessary for assembling the components without interference problems due to the tolerance chain.

⬆️  This gap should be equally distributed between the left and right sides of the joint but is all on one side.

⬆️  This coincident constraint should have been offset 0.05 mm.

I have corrected the misalignment, and now the robot is fully symmetrical again ⬇️.

We must correct some shrinkwraps, probably the root link and the other links directly constrained to it.

@fiorisi @traversaro @mfussi66 @salvi-mattia @Nicogene

[Mick3Lozzo]

Corrected.

As a bonus, I resolved some other inconsistencies I found on the shoulders too.

We can re-generate the URDF again (until the next bug).

@fiorisi @traversaro @mfussi66 @salvi-mattia @Nicogene