Update joint limits iCub3

[AlexAntn]

After work done on the iCub3 gazebo model, submitted in this PR, we have updated the upper limit for the shoulder roll, from 160 to 163.

This comes after some tests and calibration performed with the real robot, in order to find both the "zero" of the joints and their limits.

I have included these limits in the icub-models-generator PR, but they should be also included in the robots-configuration.

CC @pattacini , @traversaro

[pattacini]

There might be a misunderstanding here.

The changes @AlexAntn did via robotology/icub-models-generator#202 was to align the model's upper roll limit with the physical robot at 163 deg.

Physical robot

See https://github.com/robotology/robots-configuration/blob/master/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml#L14

Model

See robotology/icub-models-generator#202 (comment) and in particular:

small tweak on upper joint limit for the roll to be on par with real robot

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Thus, I think we can safely close this issue.
cc @traversaro @AlexAntn

[pattacini]

@traversaro @AlexAntn any comment on this?

[traversaro]

@traversaro @AlexAntn any comment on this?

If you check the original discussion that sparked this issue (see robotology/icub-models-generator#202 (comment)) the original request was to document this limits somewhere, that was called point 1 , while point 2 (i.e. changing the limits in robots-configuration was not necessary). Point 1 is still not handled, so I am ok closing this issue but if it is ok for you I would open an issue somewhere else to track the documentation of the limits.

[pattacini]

Yes sure @traversaro 👍🏻
This issue is pertaining only to point 2 so I'll close it now.

if it is ok for you I would open an issue somewhere else to track the documentation of the limits.

Agree 👍🏻
The best place is iCub Tech Documentation, I'd say.

[pattacini]

See icub-tech-iit/documentation#174.