Update coupling parameters for Hand MK5.1

[xEnVrE]

Today, while reviewing the newly opened PR icub-tech-iit/ergocub-software#169, I had the chance to compare the documented parameters of the coupling law for the MK5 .1 hand and a table that can be found in https://github.com/icub-tech-iit/ergocub-design-lowerarm/issues/157#issuecomment-1674984233.

It seems that there are discrepancies for the following paremeters.

Note: green and yellow highlighed text is just coming from the screenshot of the "table" indicated above. I am not highlighting anything.

Moreover please take into account that for each "table" entry the order of numbers is "thumb", "index" and "pinky" (as index == middle == ring) while each "documentation" entry report all the 5 parameters in the order "thumb", "index", "middle", "ring", "pinky".

Parameter $q_{0off}$

table

documentation

Parameter $k$

table

documentation

Parameter $d$

table

documentation

Parameter $l$

table

documentation

Parameter $b$

table

documentation

Parameter $s$

table

documentation

Parameter $t$

table

documentation

Parameter $f$

table

documentation

Paramter $r$

table

documentation

cc @pattacini

[pattacini]

cc @fiorisi @Lawproto

[Lawproto]

@xEnVrE a small disclaimer. The excel file only served me to update the documentation, it should not be considered official. The values you screenshotted were reported to me from @ale-git as a double-check, are in m instead of mm and I do not exactly know how they have been obtained when there is some difference with the one I measured via CAD (yellow highlight). In general, I considered the difference small enough and I put the value coming from the CAD inside the documentation.

However, I just noticed that for the single letter length parameters I accidentally copied the Mk5.0 parameters instead of putting the correct ones. I thank you for pointing this out, I will proceed with an update via PR.

[xEnVrE]

Thanks for the clarification @Lawproto.

Indeed I though they were not super official but the parameters were the same as Mk 5.0, as you said, hence I though it was important to notify that as it seemed very strange to me.

Moreover while I was conducting experiments on Gazebo, in order to study the length of the fingers, I have also asked some numbers to @ale-git and they were very different from those of the documentation, hence I was kinda sure that something was wrong.

[Lawproto]

PR opened.
#312