Fix misalignment between feet soles

[mfussi66]

This PR aims to fix: #23

The exported material from the CAD is committed.

[Nicogene]

Seems that something went wrong in the generation:

     Start 1: ergoCubGazeboV1ConsistencyCheck
1/2 Test #1: ergoCubGazeboV1ConsistencyCheck ...***Failed    0.02 sec
ergocub-model-test error: r_knee is not revolute 

    Start 2: ergoCubSN000ConsistencyCheck
2/2 Test #2: ergoCubSN000ConsistencyCheck ......***Failed    0.02 sec
ergocub-model-test error: r_knee is not revolute 

[Nicogene]

For some reason r_knee is exported as weld

      <SimpleJoint>
        <name>"SIM_ECUB_R_UPPER_LEG--SIM_ECUB_R_LOWER_LEG"</name>
        <nodeID>"115:-:116"</nodeID>
        <status>""</status>
        <base>
          <JointSide>
            <name>""</name>
            <connection>
              <Frame ref="35"></Frame>
            </connection>
          </JointSide>
        </base>
        <follower>
          <JointSide>
            <name>""</name>
            <connection>
              <Frame ref="36"></Frame>
            </connection>
          </JointSide>
        </follower>
        <primitives>
          <Primitive>
            <name>"weld"</name>
            <nodeID>""</nodeID>
            <referenceFrame>"WORLD"</referenceFrame>
            <axis>0.57735,0.57735,0.57735</axis>
          </Primitive>
        </primitives>
      </SimpleJoint>

cc @salvi-mattia @Mick3Lozzo

[salvi-mattia]

@Mick3Lozzo
in order to push the simscape button, do we have to open the mech assembly in sandbox/221219_ergoCub_simulation_model_neutral_format

or in project/simulationmodel/ecub ?

[Mick3Lozzo]

@Mick3Lozzo in order to push the simscape button, do we have to open the mech assembly in sandbox/221219_ergoCub_simulation_model_neutral_format

or in project/simulationmodel/ecub ?

In sandbox/221219_ergoCub_simulation_model_neutral_format @salvi-mattia. These are the Creo 7 compatible files.

[salvi-mattia]

the right knee seems to be weel defined

[Nicogene]

Right now I had to manually fix the simmechanics XML for the r_knee exported as weld, and the missing stl for l_wrist_1 link

• 50237ab (#27)
• 0200cab (#27)

Shall we keep track in a separate issue of these glitches in the exportation from creo?

@Lawproto @mfussi66 @Mick3Lozzo @pattacini @salvi-mattia @fiorisi

[pattacini]

Shall we keep track in a separate issue of these glitches in the exportation from creo?

Yep definitely. I'll open a dedicated issue asap.
In the meantime, you can proceed with merging the PR if everything else is fine.