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Fix wrists rotations, add missing SCSYS on soles #20

Merged
merged 3 commits into from
Dec 27, 2022
Merged

Fix wrists rotations, add missing SCSYS on soles #20

merged 3 commits into from
Dec 27, 2022

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@mfussi66 mfussi66 commented Dec 27, 2022 •
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This PR fixes the wrists rotations in the simulation model, following the convention:

  • positive yaw: when watching from above, clockwise rotation for the left wrist, counterclockwise for the right wrist
  • positive roll: palm towards the robot
  • positive pitch: hand tilts forward

Additionally, the simmechanics files are updated to add the coordinate systems on the soles.

@mfussi66 mfussi66 requested a review from Nicogene December 27, 2022 11:16
@mfussi66 mfussi66 self-assigned this Dec 27, 2022
@pattacini pattacini linked an issue Dec 27, 2022 that may be closed by this pull request
Check joints orientations #7
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@mfussi66 mfussi66 changed the title Fix wrists rotations Fix wrists rotations, add missing SCSYS on soles Dec 27, 2022
@Nicogene Nicogene merged commit 70e137f into icub-tech-iit:master Dec 27, 2022
@Nicogene Nicogene mentioned this pull request Dec 27, 2022
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@Nicogene Nicogene Nicogene approved these changes

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Check joints orientations
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@mfussi66 @Nicogene