Update simmechanics configuration of the hands

[xEnVrE]

Within this PR:

• joints limits of hand joints aligned with CAD;

please note that these will vary from those that can be found in robotology/robots-configuration as the finger configurations on the real robot is not completed yet.

these values have been obtained by asking to those working on the CAD of the hands.

at the moment there is an open issue for documenting such limits, see https://github.com/icub-tech-iit/ergocub-design-lowerarm/issues/132.

• Gazebo configuration files updated in order to :
  • specify limits of coupled joints
  • use the integrator_and_position_pid mode for the YARP velocity control (as on the real robot as far as I know)
  • provide a working, although non-optimized, PID configuration for the direct_velocity_pid mode for YARP velocity control

cc @mfussi66 @Nicogene @traversaro @pattacini

[xEnVrE]

This PR is tightly coupled with robotology/gazebo-yarp-plugins#650.

[xEnVrE]

robotology/gazebo-yarp-plugins#650 has been merged.

We would also need to merge this PR in order to make sure that the hand is properly simulated, as the configuration files are hosted here.

cc @traversaro @Nicogene

[traversaro]

robotology/gazebo-yarp-plugins#650 has been merged.

We would also need to merge this PR in order to make sure that the hand is properly simulated, as the configuration files are hosted here.

cc @traversaro @Nicogene

My bad, I did not tought of coordinating on the merge time. @Nicogene do you have any idea on this PR?

[Nicogene]

I would tag gazebo-yarp-plugins in order to make the dependency explicit in the README of this repo

cc @xEnVrE @traversaro

[traversaro]

I would tag gazebo-yarp-plugins in order to make the dependency explicit in the README of this repo

cc @xEnVrE @traversaro

Ok, prepared in robotology/gazebo-yarp-plugins#652 . However I would prefer to actually tag the release if we do soon also a release of ergocub-software, otherwise the latest releases configuration of the superbuild would be broken. Do you think we can do a release of ergocub-software now or there is something blocking (probably the related changes in robots-configurations ? ).

[traversaro]

I would tag gazebo-yarp-plugins in order to make the dependency explicit in the README of this repo
cc @xEnVrE @traversaro

Ok, prepared in robotology/gazebo-yarp-plugins#652 . However I would prefer to actually tag the release if we do soon also a release of ergocub-software, otherwise the latest releases configuration of the superbuild would be broken. Do you think we can do a release of ergocub-software now or there is something blocking (probably the related changes in robots-configurations ? ).

@xEnVrE @Nicogene I guess now we can proceed to tag both gazebo-yarp-plugins and ergocub-software ?

[Nicogene]

@xEnVrE @Nicogene I guess now we can proceed to tag both gazebo-yarp-plugins and ergocub-software ?

Yes! First GYP right?

[traversaro]

Done: https://github.com/robotology/gazebo-yarp-plugins/releases/tag/v4.7.0 .