rbdl urdf parser converts revolute joints to helical if any of the joint axis values is negative #106
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Description
Rbdl's .urdf parser converts revolute joints to helical if any of the joint axis values is negative.
Here is a minimal .urdf example and code to reproduce:
.urdf:
<?xml version="1.0"?>
<robot name="Helical_test">
<link name="BASE" />
<link name="BODY" />
<link name="L_Leg3" />
<joint name="R" type="floating">
<parent link="BASE" />
<child link="BODY" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<joint name="L_Ankle_Y" type="revolute">
<parent link="BODY" />
<child link="L_Leg3" />
<origin xyz="0.0 0.0 -0.4205268621444702" rpy="0 0.0 0" />
<axis xyz="-1 0 0" />
</joint>
</robot>
code:
import rbdl
urdf_path = "path/to/urdf/file"
m = rbdl.loadModel(urdf_path)
print(m.mJoints[-1].mJointType)
The code outputs JointTypeHelical but it should be JointTypeRevoluteX
rbdl version is 3.2.0
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