wrong torque offset calculation?

[jacknlliu]

force_torque_sensor/src/force_torque_sensor_handle.cpp

Line 359 in 1065d14

offset_.torque.x -= (gravity_transformed.vector.y * cog.z - gravity_transformed.vector.z * cog.y);

This computes the gravity moment not follow

but using -r x G

[destogl]

But this is what we want, to remove gravity moment. or am I somewhere wrong?

[jacknlliu]

@destogl

offset_.torque.x -= (gravity_transformed.vector.y * cog.z - gravity_transformed.vector.z * cog.y); 

the right hand of the code is -r x G, not r x G.
Then the result is:

offset_.torque = offset_.torque - (-rxG) = offset_.torque + r x G

In other words, the offset_.torque is to add the gravity moment, not to remove it. Right?

[destogl]

Yes you are right. I will check once again what we do in our code to check why is this like that...

[destogl]

@jacknlliu: Did you correct this for you? Can you make pull request or give a correct code snippet?

[jacknlliu]

@destogl Yes, I'll check it in these days.