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Reverse rotation of camera tilt and left shoulder yaw in URDF #51

Merged
merged 3 commits into from
Feb 9, 2023
Merged

Reverse rotation of camera tilt and left shoulder yaw in URDF #51

merged 3 commits into from
Feb 9, 2023

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mfussi66
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@mfussi66 mfussi66 commented Feb 9, 2023

In accordance to the real ergoCub, this PR reverses camera_tilt and l_shoulder_yaw, so that:

  • Positive tilt points upwards
  • Positive yaw rotates along an axis oriented towards the hand

Addresses: #47

cc @lrapetti

@mfussi66 mfussi66 requested a review from Nicogene February 9, 2023 12:36
@mfussi66 mfussi66 self-assigned this Feb 9, 2023
@pattacini pattacini linked an issue Feb 9, 2023 that may be closed by this pull request
Left shoulder yaw and camera tilt not coherent between robot and model #47
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mfussi66 commented Feb 9, 2023

Fixing the test asap in this same branch.

@Nicogene Nicogene merged commit 9713044 into icub-tech-iit:master Feb 9, 2023
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Nicogene commented Feb 9, 2023

Merged, thanks!

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@Nicogene Nicogene Nicogene approved these changes

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Left shoulder yaw and camera tilt not coherent between robot and model
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@mfussi66 @Nicogene