Control Board wrong joint limits for fingers

[xEnVrE]

The .ini configuration files for fingers, e.g. gazebo_icub_left_hand_index.ini contain a group [LIMITS] that specifies limits for each physical joint. These limits are loaded within the control board plugin and used to, e.g., specify constraints on the generation of trajectories (see here).

Since trajectories are generated for each controlled DoF of the finger and not for each physical DoF, e.g. for the index {l,r}_index_proximal and {l,r}_index_distal, but the variable m_jointPosLimits is not updated to take into account coupling then joint limits used by the trajectory generator are wrong.

Could it be an option to add a method like

decouplePosLimits(std::vector<Range> &posLimits)

to the decoupling handlers ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler

and call it in the method GazeboYarpControlBoardDriver::setMinMaxPos?

Or is it better to change the meaning of the section [LIMITS] so that it contains the limits of the controlled DoFs instead that of all the physical DoFs?

[traversaro]

cc @randaz81 @triccyx

[randaz81]

decouplePosLimits(std::vector &posLimits)
to the decoupling handlers ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler

seems the right solution to me.
But please allow me some time to check the current status of the code

[traversaro]

Any updated on this @randaz81 ? Do you think we can proceed with the solution proposed by @xEnVrE ?

[traversaro]

@xEnVrE I think you can go forward and open a PR for this on icub-gazebo, @randaz81 can comment on the PR before if he has any additional comment.

[xEnVrE]

@traversaro I'm planning to do this very soon.

[traversaro]

cc @ale-git given your recent work on Mk3 hand you may be interested in this issue.

[xEnVrE]

Can we close this given that the above PR was merged?

cc @traversaro

[traversaro]

Ok, thanks!