Wrong eyes joint names for iCubGenova11

[xEnVrE]

For some reason, the name of the eyes version and vergence for this robot are eyes_vers and eyes_verg

robots-configuration/iCubGenova11/hardware/mechanicals/head-eb21-j2_5-mec.xml

Line 12 in 0891fbe

<param name="AxisName"> "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" </param>

which are different from:

• the documentation https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-joints/icub-joints/#head-20
• the simulation https://github.com/robotology/icub-models/blob/b2391b90432e13f053a2b516e2d423a94f3e84e1/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_eyes.ini#L15
• those of other robots, e.g.,

  robots-configuration/iCubGenova10/hardware/mechanicals/head-eb21-j2_5-mec.xml

  Line 12 in 0891fbe

  <param name="AxisName"> "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" </param>

This is creating issues when trying to use the same software in simulation and on the real setup as joints names are different.

Can I open a PR to fix that?

cc @pattacini

[sgiraz]

Hi @xEnVrE,

It seems that the typo exists from the beginning, see:

• Add iCubGenova11 #399

cc @AntonioConsilvio

[pattacini]

Can I open a PR to fix that?

Sure!

Would you be willing to fix the following robots as well?

• iCubValparaiso01
• iCubLisboa01
• iCubShanghai01

This came out from a search: https://github.com/search?q=repo%3Arobotology%2Frobots-configuration+eyes_verg&type=code&p=1.

The PR should be against master as it's a fix.

[xEnVrE]

Would you be willing to fix the following robots as well?

Done!

[pattacini]

Thank you @xEnVrE!