icub3: fix realsense urdf exportation

[Nicogene]

Use right ini file after adding the head v2.7

It fixes robotology/icub-models#69

[traversaro]

Ok! I think it may be worth to write from where these parameters come from.

[Nicogene]

I still have some issues, first, the frame seems not correct to me

The camera is looking at the arm.

Moreover, the devices open fine see

But I still have this error, that I think is a false positive (robotology/gazebo-yarp-plugins#523)

[Nicogene]

Looking to this seems that 97dad07 fixed the rgb and depth frames 🎉

cc @pattacini @salvi-mattia @traversaro @fiorisi

[Nicogene]

Ah I also took the camera parameters from the datasheet

From my side, we can merge it

[traversaro]

Ah I also took the camera parameters from the datasheet

Which model of Realsense is mounted in iCub3 and you used for filling the model from the datasheet? In general a reference to a 120 pages document is not really useful in practice. : )

[Nicogene]

The model should be the D435, should I write it somewhere in the yaml?

[traversaro]

The model should be the D435, should I write it somewhere in the yaml?

I think this information is something that should go in the user facing documentation of the iCub3, together with the definition of the frames contained in the model, similar (and better) to what done in iCub2 in https://wiki.icub.org/wiki/ICub_Model_naming_conventions . In the meanwhile, just mentioning it in the PR will ensure that in the future we can find it. Similarly to that, we don't need to document explicitly where the parameters come from for now, but at least explain how they were calculated (for example, where do the values for <center>319.5 239.5</center> or <horizontal_fov>1.57079</horizontal_fov> come from?) in this PR will help future users that may be interested in this info.

[Nicogene]

The depth and rgb fov have been taken from the datasheet

The same for the near plane of the depth

I didn't find any info about the optical center and I left the one that was defined in the asus_xtion of cer-sim (see https://github.com/robotology/cer-sim/blob/09e3416b5e33b59d85132fe8adff4f239441f4ab/gazebo/cer/cer.sdf#L1424 and https://github.com/robotology/cer-sim/blob/09e3416b5e33b59d85132fe8adff4f239441f4ab/gazebo/cer/cer.sdf#L1455)

They seem to be reasonable for a 640x480 resolution. I think the only way to put it the right values is to ask them to the physical device.

[traversaro]

Perfect, thanks!