ergoCubSN002: adjust fingers limits for the left hand

[Nicogene]

The left hand has the mk5.2 coupling law:

• https://icub-tech-iit.github.io/documentation/hands/hands_mk5_coupling/?h=hand+mk#mk52-coupling-variables

[gemini-code-assist]

Summary of Changes

Hello @Nicogene, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request focuses on refining the configuration parameters for the ergoCub robot's left and right arms. The changes involve updating calibration data and adjusting mechanical and motor control joint limits. These modifications are likely aimed at improving the precision and operational range of the robot's arms, potentially in alignment with the mk5.2 coupling law for the left hand.

Highlights

• Left Arm Calibration Update: The calibration2 parameters within the left_arm-calib.xml file have been updated with new values, specifically affecting indices 8, 10, 11, and 12.
• Left Arm Mechanical Limits Adjustment: Mechanical joint position maximums and minimums (hardwareJntPosMax, hardwareJntPosMin) as well as rotor position limits (rotorPosMin, rotorPosMax) for the left arm have been modified in left_arm-eb23-j7_10-mec.xml.
• Right Arm Motor Control Limits Refinement: The motor control joint position minimums and maximums (jntPosMin, jntPosMax) for the right arm have been adjusted in right_arm-eb22-j7_10-mc.xml.

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[gemini-code-assist]

Code Review

This pull request updates calibration and limit parameters, seemingly to implement the mk5.2 coupling law for the left hand as mentioned in the description. The calibration values and hardware limits for the left arm's hand joints are updated. However, there appears to be a significant inconsistency: the software joint limits have been updated for the right arm, not the left. Furthermore, these new software limits for the right arm are outside the hardware limits defined in its corresponding mechanicals file. This could lead to errors or unexpected behavior. It seems likely that the changes intended for the left arm's motor control file were mistakenly applied to the right arm's file.

[S-Dafarra]

Would it be possible to port this in https://github.com/icub-tech-iit/robots-configuration/tree/devel-ergoCubSN002. I am afraid that any subsequent change on that file due to maintenance will cause a conflict that becomes hard to solve

[Nicogene]

Would it be possible to port this in icub-tech-iit/robots-configuration@devel-ergoCubSN002. I am afraid that any subsequent change on that file due to maintenance will cause a conflict that becomes hard to solve

I cherry-picked the commit in that branch (I had indeed to solve a conflict):

• icub-tech-iit@d7b69ce

[S-Dafarra]

Would it be possible to port this in icub-tech-iit/robots-configuration@devel-ergoCubSN002. I am afraid that any subsequent change on that file due to maintenance will cause a conflict that becomes hard to solve

I cherry-picked the commit in that branch (I had indeed to solve a conflict):

• icub-tech-iit@d7b69ce

Ah ok, I was thinking about a PR. It means that it is needed to pull and test asap

[Nicogene]

The changes committed here:

• https://github.com/icub-tech-iit/robots-configuration/tree/devel-ergoCubSN002

have been tested on the robot, I would close this PR