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Triangles 43 and 46 of lower right leg skin swapped #200

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BoPot opened this issue May 26, 2023 · 0 comments

BoPot commented May 26, 2023 •

edited by pattacini

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icub-models/iCub/robots/iCubGazeboV2_7/model.urdf

Line 403 in f33a09c

<link name="r_lower_leg_skin_43"/>

The triangles 43 and 46 of r_lower_leg_skin are swapped.
My code for reading the file and plotting the skin model:
https://gitlab.fel.cvut.cz/body-schema/icub/icub-skin-calibration/-/blob/main/skin_models/skin_coords_from_urdf.py
I deal with the issue in the code on lines 99-102. Here is the output before I added those lines:

@matejhof @rustlluk @traversaro

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