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Added finger coupling management for iCub new Mk3 hand. #469
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plugins/controlboard/include/yarp/dev/ControlBoardDriverCoupling.h
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Co-Authored-By: Silvio Traversaro <[email protected]>
Co-Authored-By: Silvio Traversaro <[email protected]>
Ciao @traversaro, can this be merged now? |
Sorry, I had a leftover review comment that was not sent, yes I think we can merge it now. |
LGTM 👍
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I agree with @randaz81. Also, some of the implemented equations are complex and if, in the future, someone wants to make a comparison between the implemented code and the documentation, it would be great if the equations are available somewhere. |
I also want to stress the fact that with the actual code of the |
Link to geometry documentation: Link to the URDF model: |
I guess a possible workaround for now is to pass really loose limits, to ensure that the trajectory generation is not affected? |
I am not sure if everyone has access to this private repos. In any case, adding these models to public repos is tracked in robotology/icub-models-generator#130, so eventually we could add the links suggested by @randaz81 . |
Just to avoid confusion, the only comment left is #469 (comment) . |
Co-authored-by: Silvio Traversaro <[email protected]>
I've added the coupling class of the new iCub hand under developmente at present.
Since the coupling between the second and first phalanges is not linear, and thus not easily invertible, it makes use of an interpolated look up table that will be also useful in firmware implementation in control boards.