Wrong position of the torso first collision link

[jmirabel]

It seems that the origin of the first collision box of the torso is not correct. I expect it to be

 <origin rpy="0 0 0" xyz="0 0 0.25" /> 

tiago_robot/tiago_description/urdf/torso/torso.urdf.xacro

Line 46 in 31790ca

<origin rpy="0 0 0" xyz="0 0 0.05" />

This is related to pal-robotics/pmb2_robot#6

[v-lopez]

Could you please elaborate on this?

Visually in rviz and gazebo I see them align, and if I increase z by 0.20 cm it is floating in the middle of the torso.

They are aligned by default:

[jmirabel]

Actually, you are right, the issue may not be that the box is not well placed indeed.

When I measure with a ruler on the robot the height of the small step where the arm is placed when off, I get something between 45 and 50mm. If I do the same in rviz, with collision enabled, along the black line below, I get about 33mm.

[v-lopez]

Yeah that could be, again we'll pass this to the mechanical department so they can generate more up to date collision meshes.

Thanks for reporting it.