Discrepancy between documented and simulated limits for ergoCub hand MK5.0

[xEnVrE]

After the recent update of the documentation in https://icub-tech-iit.github.io/documentation/hands/hands_mk5/#mk50, I noticed that there might be problems with some of the limits.

For example, the thumb proximal has 90 degrees as limit:

The current configuration file, instead (check the second column)

https://github.com/icub-tech-iit/ergocub-software/blob/5ca85d3b065f47ea652bb413d9b0536f5dfcc72c/urdf/ergoCub/conf/gazebo_ergocub_left_hand.ini#L13

has 82.1 degrees.

Although we could just update the configuration file with the documentation, I am not really sure whether they are correct. Indeed, I remember, while looking at it in the CAD with @Lawproto, that the thumb proximal could not really reach 90 degrees but a little less, speaking from the mechanical point of view.

cc @Lawproto @traversaro

[Lawproto]

@xEnVrE you are right, I confirm.

[Lawproto]

@xEnVrE pull request opened. https://github.com/icub-tech-iit/documentation/pull/304

[xEnVrE]

Thanks @Lawproto

[Lawproto]

@xEnVrE you are welcome. The pull request was merged, now you can see the correct value in the documentation.

[xEnVrE]

Thanks @Lawproto.

As discussed f2f with @Lawproto, when the PR was opened I did not already notice that also the l_thumb_dist is different between the two sources:

• 53.6 within the config file
• 59.2 within the documentation

Would it be possible to also verify this?

Note: all the other numbers are correct!

[Lawproto]

@xEnVrE from the CAD model, I say the config file is right.

I opened a PR: https://github.com/icub-tech-iit/documentation/pull/305.

[xEnVrE]

Thanks heaps @Lawproto

[xEnVrE]

Closing as the issue has been solved.