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[iKin] Fix handling of hand abduction/adduction joints in class iCubFinger #695

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merged 5 commits into from
Dec 2, 2020
Merged

[iKin] Fix handling of hand abduction/adduction joints in class iCubFinger #695

merged 5 commits into from
Dec 2, 2020

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xEnVrE
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@xEnVrE xEnVrE commented Dec 2, 2020 •
edited by pattacini
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Following up #694,

this PR make sure that the hand adduction/abduction is properly handled in iKinFwd::iCubFinger in terms of:

  • limits of the 0-th link of the fingers index, ring and little
  • handling of reversed open/close logic in the reading from the encoder of the joint *_hand_finger

It has been tested on iCubGenova01.

@xEnVrE xEnVrE requested a review from pattacini December 2, 2020 13:16
@pattacini pattacini linked an issue Dec 2, 2020 that may be closed by this pull request
[iKinFwd] Possible wrong handling of *_hand_finger (finger adduction/abduction) readings in getChainJoints() #694
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pattacini requested changes Dec 2, 2020
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Thanks a lot @xEnVrE for taking care of this 👍🏻

Only a couple of very minor mods.

src/libraries/iKin/include/iCub/iKin/iKinFwd.h Outdated Show resolved Hide resolved
src/libraries/iKin/src/iKinFwd.cpp Outdated Show resolved Hide resolved
@pattacini pattacini merged commit 439c0e1 into robotology:master Dec 2, 2020
@xEnVrE xEnVrE deleted the fix/ikin_fwd branch December 2, 2020 15:06
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xEnVrE commented Dec 2, 2020

Thank you @pattacini for taking care of the modifications.

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[iKinFwd] Possible wrong handling of *_hand_finger (finger adduction/abduction) readings in getChainJoints()
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