Simulated index abduction range of motion is wrong

[xEnVrE]

While making tests with the ergoCub hand in simulation, we realized that the range of motion of the index abduction has been reported in the URDF in the wrong way. In the CAD, this joint can move from -3 degrees to + 12 degrees. Hence, the overall RoM is 15 degrees that - I guess - we hope to command YARP-side going from 0 to 15 degrees.

At the moment we see the following. In the video we are comparing the URDF model with a non-actuated mesh of the whole hand with the thumb abduction fully opened up to the mechanical limit:

test_hand_alignment_cad_index_limit-2023-06-23_08.05.09.mp4

As can be seen, the extra +3 degrees of range of motion are there, but in the wrong place. Hence, I think the "0" configuration within the URDF should be moved back by 3 degrees.

Hope the description above was clear, available for further clarifications.

@salvi-mattia @Lawproto @Nicogene @mfussi66 @traversaro

[xEnVrE]

cc @fiorisi

[Nicogene]

For this activity, we need @Lawproto to keep it on hold until the 6th of September

/remind 6th of September

[octo-reminder]

⏰ Reminder
Wednesday, September 6, 2023 10:00 AM (GMT+02:00)

[octo-reminder]

🔔 @Nicogene