iCubGazeboV2_* and iCubGenova11 : the frames of the ft sensors in the arms seems wrong – Stint 2

[Nicogene]

This is the follow-up of

• iCubGazeboV2_* and iCubGenova11 : the frames of the ft sensors in the arms seems wrong – Stint 1 #233

In particular we should clarify what is wrong, what this PR fixed:

• iCubV2_*: Fix measure of arm ft sensors #265

And what are our options for fixing the representation of the frames, if I recall correctly the frames are correctly placed in the urdf, but then the measure is expressed wrt a wrong frame, because the csys is in the parent link of the assembly, see:

• iCubGazeboV2_* and iCubGenova11 : the frames of the ft sensors in the arms seems wrong – Stint 1 #233 (comment)

cc @traversaro

[traversaro]

Correct me if I am wrong, but reading #233 from top to bottom it seems that the FT sensor frames were correctly fixed but the frames of the IMU sensors connected to the IMU are still wrong? In this case, does it make sense to fix the name of the issue?