FT sensors "real" position.

[EnricoMingo]

As for the IMU sensor, if possible we need to know the "real" position of the FT sensors in the kinematic chain (anyway I think that considering the FT sensors in the same pose of the ankle joints is ok...)

[traversaro]

Just a little note, that probably doesn't affect the FT sensor simulation in a noticeable way: for a complete characterization of the FT sensor is necessary to know both the real position of the FT sensors and the inertial paramaters (mass, center of mass, inertia matrix) of the part of a the link between the FT sensor and the joint.

[EnricoMingo]

The FT are spcified inside a joint if I have understood. For the real position is possible to specify an offset from the joint.

[arocchi]

Shouldn't this be a issue on the iit-coman-ros-pkg repo?
Anyway, both Silvio and Enrico observations are interesting. The force-torque sensor on gazebo allows for a quick way of specifying the frame of reference for the measurement, but there is no quick way to add a bias. A third observation I want to add, which I should check into, is whether the f/t reference frame rotates with the joint, is fixed with respect to the parent or to the child link. Based on this three observations the f/t plugin and/or description of the robot need to be changed accordingly.

[traversaro]

Replied here: https://github.com/EnricoMingo/iit-coman-ros-pkg/issues/11

[arocchi]

FT readings now relative to FT pose in .sdf