ergoCubV1_1: regenerate urdf after creo2urdf axis bugfix (#182)

icub-tech-iit · Oct 17, 2023 · a092c3a · a092c3a
2 parents d3405c2 + dea0712
commit a092c3a
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Showing 4 changed files with 169 additions and 161 deletions.
diff --git a/tests/ergocub-model-test.cpp b/tests/ergocub-model-test.cpp
@@ -306,6 +306,14 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1M
         expectedDirectionInRootLink.push_back(iDynTree::Direction(0.525416,0.838737,0.143034));
         axisNames.push_back("l_index_add");
         expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.250563,-0.935113,-0.250563));
+        axisNames.push_back("r_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
+        axisNames.push_back("r_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
+        axisNames.push_back("l_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
+        axisNames.push_back("l_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
     }
     else {
         axisNames.push_back("r_thumb_prox");
@@ -320,11 +328,15 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1M
         expectedDirectionInRootLink.push_back(iDynTree::Direction(0.439716,0.892571,0.0998355));
         axisNames.push_back("l_index_add");
         expectedDirectionInRootLink.push_back(iDynTree::Direction(0.250563,0.935113,0.250563));
+        axisNames.push_back("r_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.884949,0.32618,0.332372));
+        axisNames.push_back("r_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.884949,0.32618,0.332372));
+        axisNames.push_back("l_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.884949,0.32618,-0.332372));
+        axisNames.push_back("l_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.884949,0.32618,-0.332372));
     }
-    axisNames.push_back("r_index_prox");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
-    axisNames.push_back("r_index_dist");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
     axisNames.push_back("r_middle_prox");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.961047,0.271447,0.0520081));
     axisNames.push_back("r_middle_dist");
@@ -351,10 +363,6 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1M
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.116648,0.227771,-0.966702));
     axisNames.push_back("l_thumb_add");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.329847,0.160871,-0.930227));
-    axisNames.push_back("l_index_prox");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
-    axisNames.push_back("l_index_dist");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
     axisNames.push_back("l_middle_prox");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.961047,0.271447,-0.0520081));
     axisNames.push_back("l_middle_dist");