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iCubGazeboV2_*: fix r_wrist_yaw direction #220

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merged 1 commit into from
Jun 1, 2022
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iCubGazeboV2_*: fix r_wrist_yaw direction #220

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20 changes: 11 additions & 9 deletions simmechanics/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ find_package(PythonInterp REQUIRED)
# v2.5 robots using the simmechanics-to-urdf script
macro(generate_icub_simmechanics)
set(options NO_BACKPACK
BOGUS
BOGUS
INCREASE_INERTIA_FOR_GAZEBO
ICUB_PLUS
ICUB_2_6
ICUB_2_7
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Nitpick for future PRs: removing trailing whitespace is great, but try to keep it in a different dedicated commit, otherwise it will complicate reading the history in the future.

ICUB_PLUS
ICUB_2_6
ICUB_2_7
ICUB_3_COLLISION_GEOM_MOD)
set(oneValueArgs YARP_ROBOT_NAME SIMMECHANICS_XML YAML_TEMPLATE CSV_TEMPLATE)
set(multiValueArgs)
cmake_parse_arguments(GIVTWO "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})

# Fallback if no assigned collision geometry is requested
set(ASSIGNED_COLLISION_GEOMETRIES "")

Expand Down Expand Up @@ -202,6 +202,7 @@ macro(generate_icub_simmechanics)
r_wrist_prosup
torso_pitch
neck_roll
r_wrist_yaw
")
else()
set(MESH_FILE_FORMAT "filenameformatchangeext: \"package://iCub/meshes/simmechanics/%s-binary.stl\"")
Expand Down Expand Up @@ -266,6 +267,7 @@ macro(generate_icub_simmechanics)
r_wrist_prosup
torso_pitch
neck_roll
r_wrist_yaw
")
endif()
# The ICUB_2_6 option is used to modify the iCub 2.5.5 model to
Expand All @@ -277,8 +279,8 @@ macro(generate_icub_simmechanics)
"additionalTransformation: [0.0323779, -0.0139537, 0.072, -3.14159265358979, 0, -1.5707963267949]")

endif()
# The ICUB_2_7 option is used to modify the iCub 2.5.5 model to
# add some details of the iCub 2.7 until a proper iCub 2.7 model
# The ICUB_2_7 option is used to modify the iCub 2.5.5 model to
# add some details of the iCub 2.7 until a proper iCub 2.7 model
# is produced
set(ADDITIONAL_XML_BLOBS "")
if(GIVTWO_ICUB_2_7)
Expand Down Expand Up @@ -369,12 +371,12 @@ generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV3
YAML_TEMPLATE "icub3/ICUB_3_all_options_gazebo.yaml.in"
CSV_TEMPLATE "icub3/ICUB_3_joint_all_parameters.csv"
ICUB_3_COLLISION_GEOM_MOD)

generate_icub_simmechanics(YARP_ROBOT_NAME left_hand_mk3
SIMMECHANICS_XML "components/left_hand_mk3/SIM_LEFT_HAND.xml"
YAML_TEMPLATE "components/left_hand_mk3/simmechanics2urdf_configfile.yaml"
CSV_TEMPLATE "components/left_hand_mk3/simmechanics2urdf_joints_configfile.csv")

generate_icub_simmechanics(YARP_ROBOT_NAME left_wrist_mk2
SIMMECHANICS_XML "components/left_wrist_mk2/SIM_L_WRIST.xml"
YAML_TEMPLATE "components/left_wrist_mk2/simmechanics2urdf_configfile.yaml"
Expand Down
6 changes: 5 additions & 1 deletion tests/icub-model-test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -241,6 +241,10 @@ bool checkAxisDirectionsV2(iDynTree::KinDynComputations & comp)
expectedDirectionInRootLink.push_back(iDynTree::Direction(1.0,0.0,0.0));
axisNames.push_back("torso_yaw");
expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0,0.0,-1.0));
axisNames.push_back("l_wrist_yaw");
expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0,-1.0,0.0));
axisNames.push_back("r_wrist_yaw");
expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0,-1.0,0.0));

for(int i=0; i < axisNames.size(); i++)
{
Expand Down Expand Up @@ -478,7 +482,7 @@ bool checkFTSensorsAreCorrectlyOrientedV3(iDynTree::KinDynComputations & comp)
-0.866025, -0.5, 0,
0, 0, 1);

iDynTree::Rotation rootLink_R_sensorFrameExpectedLeg =
iDynTree::Rotation rootLink_R_sensorFrameExpectedLeg =
iDynTree::Rotation(-0.866025, -0.5, 0,
-0.5, 0.866025, 0,
0, 0, -1);
Expand Down