iCubGazeboV2_*: fix r_wrist_yaw direction

[Nicogene]

It fixes robotology/icub-models#156

Alongside @marcello-goccia, we fixed the r_wrist_yaw direction and we added a test for that.

Please review code

[traversaro]

Nitpick for future PRs: removing trailing whitespace is great, but try to keep it in a different dedicated commit, otherwise it will complicate reading the history in the future.

[traversaro]

Did you run the tests? I had the impression that the direction of the wrist axis is not aligned with the y of the root_link due to the slight tilt of the shoulders, so I was surprise to see that the direction is instead aligned along the y of the root_link .

[traversaro]

For some reason, CI is not running.

[traversaro]

For some reason, CI is not running.

Closing&opening the PR solved the problem.

[Nicogene]

Did you run the tests? I had the impression that the direction of the wrist axis is not aligned with the y of the root_link due to the slight tilt of the shoulders, so I was surprise to see that the direction is instead aligned along the y of the root_link .

Yes we got those numbers running the test ad it was surprising also for me, without the change on the reverseRotationAxis that test fail.

[Nicogene]

For some reason, CI is not running.

For inactivity the Workflow was disabled when we made the PR, I reenabled it but it didn't make it run

[traversaro]

Thanks @Nicogene @marcello-goccia !