Fix bug

robotology · Dec 18, 2024 · 6a20fae · 6a20fae
1 parent cee0ff4
commit 6a20fae
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/src/libraries/icubmod/couplingICubEye/CouplingICubEye.cpp b/src/libraries/icubmod/couplingICubEye/CouplingICubEye.cpp
@@ -37,6 +37,11 @@ bool CouplingICubEye::open(yarp::os::Searchable& config) {
         return false;
     }
 
+    if(!populateCouplingParameters) {
+        yCError(COUPLINGICUBEYE) << "Error populating coupling parameters";
+        return false;
+    }
+
     yCDebug(COUPLINGICUBEYE) << "Opening couplingICubEye" << config.toString();
     return true;
 }

diff --git a/src/libraries/icubmod/couplingICubEye/README.md b/src/libraries/icubmod/couplingICubEye/README.md
@@ -37,9 +37,9 @@ jointNames          eyes_tilt l_eye_pan_joint r_eye_pan_joint
 
 [COUPLING]
 device              couplingICubEye 
-actuatedAxesNames   eyes_version eyes_vergence
-actuatedAxesPosMin  -30.0   0.0
-actuatedAxesPosMax  30.0    50.0
+actuatedAxesNames   eyes_tilt eyes_version eyes_vergence
+actuatedAxesPosMin  -30.0     -30.0   0.0
+actuatedAxesPosMax  30.0      30.0    50.0
 
 [LIMITS]
 jntPosMax           30.0    55.0    30.0