ergoCub1.0 S/N000 – update left/right calib for startup and home position - Githubissues

robotology / robots-configuration

Contains robots configuration files

BSD 3-Clause "New" or "Revised" License

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ergoCub1.0 S/N000 – update left/right calib for startup and home position #524

Closed sgiraz closed 1 year ago

sgiraz commented 1 year ago

What's new:

update startupPosition and homePosition in calibrators\left_arm-calib.xml with the min values set for jntPosMin in hardware\motorControl\left_arm-eb23-j7_10-mc.xml
update startupPosition and homePosition in calibrators\right_arm-calib.xml with the min values set for jntPosMin in hardware\motorControl\right_arm-eb22-j7_10-mc.xml

Note:

⚠️ @AntonioConsilvio states that the jntPosMin parameter was set to 0 for the right arm since its joints can physically reach the 0 position. However, this is not the case for the left arm. Consequently, I adjusted the jntPosMin to 4 for the left arm to maintain consistency, considering it was already set to 4 for the right arm.
Probably the jntPosMin and jntPosMax values for both hands may be improved to be more accurate

cc @valegagge @MSECode @Nicogene

pattacini commented 1 year ago

jntPos[Min|Max] refer to the SW bounds, whereas hardwareJntPos[Min|Max] are the HW bounds. It's important the latter coincides with the HW, while the former can be more restrictive.