The objective is to get rid of the teleoperation models found in https://github.com/robotology/human-dynamics-estimation/tree/master/conf/urdfs which are copies of the original robot urdf files (contained in https://github.com/robotology/icub-models) with the addition of fake links originally added to replicate the orientation of the sensors data.
Those links added to the urdfs are no longer necessary after #254.
In fact, for example, the ergoCub model was added and tested (#340) by using directly the original model by adding all the required fixed transforms to the configuration file (see https://github.com/robotology/human-dynamics-estimation/blob/11ad67f1d31f54d42aa1954a6a1a6e83a5892570/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml#L104-L137). Since the ergoCub model should basically have same (or similar) link definition as the iCub3 (and iCub2.5) models, starting from those transforms we should be able to get rid of the teleoperation models.
cc @mebbaid @S-Dafarra
The objective is to get rid of the teleoperation models found in https://github.com/robotology/human-dynamics-estimation/tree/master/conf/urdfs which are copies of the original robot urdf files (contained in https://github.com/robotology/icub-models) with the addition of fake links originally added to replicate the orientation of the sensors data.
Those links added to the urdfs are no longer necessary after #254.
In fact, for example, the
ergoCubmodel was added and tested (#340) by using directly the original model by adding all the required fixed transforms to the configuration file (see https://github.com/robotology/human-dynamics-estimation/blob/11ad67f1d31f54d42aa1954a6a1a6e83a5892570/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml#L104-L137). Since theergoCubmodel should basically have same (or similar) link definition as theiCub3(andiCub2.5) models, starting from those transforms we should be able to get rid of the teleoperation models.cc @mebbaid @S-Dafarra