braunzel

extractCartesianAxis does not account for negative axis values?

11

Dear all, the method [extractCartesianAxis()](https://github.com/stack-of-tasks/pinocchio/blob/280005c8d99c2485ee942b6a38c4dc0edf75c706/src/parsers/urdf/model.hxx#L262) only considers positive unit vectors, and does not account for negative axes, such as (-1, 0, 0). URDF, by contrast, explicitly allows negative axes, http://wiki.ros.org/urdf/XML/joint,...