added joints 1 and 2 instead of joint 0

shadow-robot · Aug 7, 2015 · 4c1fb4f · 4c1fb4f
1 parent 8ee47ee
commit 4c1fb4f
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Showing 3 changed files with 12 additions and 12 deletions.
diff --git a/sr_utilities/scripts/sr_utilities/hand_finder.py b/sr_utilities/scripts/sr_utilities/hand_finder.py
@@ -60,8 +60,8 @@ def __init__(self, mapping):
         ethercat_path = ros_pack.get_path('sr_ethercat_hand_config')
         self.calibration_path = {}
         for hand in mapping:
-            self.calibration_path[mapping[hand]] = ethercat_path + '/' + mapping[hand] \
-                + '/' + "calibration.yaml"
+            self.calibration_path[mapping[hand]] = \
+                ethercat_path + '/' + mapping[hand] + '/' + "calibration.yaml"
 
 
 class HandConfig(object):
@@ -78,9 +78,10 @@ def __init__(self, mapping):
         """
 
         """
-        joints = ['FFJ0', 'FFJ3', 'FFJ4', 'MFJ0', 'MFJ3', 'MFJ4', 'RFJ0',
-                  'RFJ3', 'RFJ4', 'LFJ0', 'LFJ3', 'LFJ4', 'LFJ5', 'THJ1',
-                  'THJ2', 'THJ3', 'THJ4', 'THJ5', 'WRJ1', 'WRJ2']
+        joints = ['FFJ1', 'FFJ2', 'FFJ3', 'FFJ4', 'MFJ1', 'MFJ2', 'MFJ3',
+                  'MFJ4', 'RFJ1', 'RFJ2', 'RFJ3', 'RFJ4', 'LFJ1', 'LFJ2',
+                  'LFJ3', 'LFJ4', 'LFJ5', 'THJ1', 'THJ2', 'THJ3', 'THJ4',
+                  'THJ5', 'WRJ1', 'WRJ2']
         self.joints = {}
         hand_joints = []
         for hand in mapping:

diff --git a/sr_utilities/src/sr_hand_finder.cpp b/sr_utilities/src/sr_hand_finder.cpp
@@ -33,10 +33,9 @@ using std::vector;
 namespace shadow_robot
 {
 const size_t SrHandFinder::number_of_joints_ = 20;
-const char* SrHandFinder::joint_names_[] = {"FFJ0", "FFJ3", "FFJ4", "MFJ0", "MFJ3", "MFJ4", "RFJ0",
-                                            "RFJ3", "RFJ4", "LFJ0", "LFJ3", "LFJ4", "LFJ5", "THJ1",
-                                            "THJ2", "THJ3", "THJ4", "THJ5", "WRJ1", "WRJ2"};
-
+const char* SrHandFinder::joint_names_[] = {"FFJ1", "FFJ2", "FFJ3", "FFJ4", "MFJ1", "MFJ2", "MFJ3", "MFJ4",
+                                            "RFJ1", "RFJ2", "RFJ3", "RFJ4", "LFJ1", "LFJ2", "LFJ3", "LFJ4",
+                                            "LFJ5", "THJ1", "THJ2", "THJ3", "THJ4", "THJ5", "WRJ1", "WRJ2"};
 SrHandFinder::SrHandFinder()
 {
   map<string, string> mapping_map;

diff --git a/sr_utilities/test/test_hand_finder.cpp b/sr_utilities/test/test_hand_finder.cpp
@@ -34,9 +34,9 @@ TEST(SrHandFinder, hand_present_test)
   ros::NodeHandle nh;
   nh.setParam("hand/mapping/1", "rh");
   nh.setParam("hand/joint_prefix/1", "rh_");
-  const string joint_names[] = {"FFJ0", "FFJ3", "FFJ4", "MFJ0", "MFJ3", "MFJ4", "RFJ0",
-                                              "RFJ3", "RFJ4", "LFJ0", "LFJ3", "LFJ4", "LFJ5", "THJ1",
-                                              "THJ2", "THJ3", "THJ4", "THJ5", "WRJ1", "WRJ2"};
+  const string joint_names[] = {"FFJ1", "FFJ2", "FFJ3", "FFJ4", "MFJ1", "MFJ2", "MFJ3", "MFJ4",
+                                "RFJ1", "RFJ2", "RFJ3", "RFJ4", "LFJ1", "LFJ2", "LFJ3", "LFJ4", "LFJ5",
+                                "THJ1", "THJ2", "THJ3", "THJ4", "THJ5", "WRJ1", "WRJ2"};
   shadow_robot::SrHandFinder hand_finder;
   map<string, vector<string> > hand_joints(hand_finder.get_joints());
   for (map<string, vector<string> >::const_iterator iter = hand_joints.begin(); iter != hand_joints.end(); ++iter)