Update ergoCub1 Hip Roll RoM

[fiorisi]

I have reviewed the range of motion (RoM) of the Hip Pitch joint and updated it following a verification of both the robot and the CAD model.

The highlighted areas below indicate the hard stop locations (thanks @AntonioConsilvio).

[gemini-code-assist]

Hello @fiorisi, 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!

Summary of Changes

This pull request updates the range of motion (RoM) for the Hip Roll joint (Joint 1) of the ergoCub1 robot, based on a verification of the robot and its CAD model. Specifically, the hardware RoM lower limit is adjusted from -35 degrees to -20 degrees, while the upper limit remains at +111 degrees. The software RoM remains unchanged.

Highlights

• Hip Roll RoM Update: The hardware range of motion for the ergoCub1's Hip Roll joint has been updated from -35/+111 degrees to -20/+111 degrees following a review of the robot and CAD model.
• Documentation Update: The ergoCub1-joints.md file has been modified to reflect the updated Hip Roll joint's hardware range of motion.

Changelog

• docs/ergoCub1/ergoCub1-joints.md
  • Updated the 'Range of Motion (HW)' for Joint 1 (hip roll) from '-35/+111 (degrees)' to '-20/+111 (degrees)'.

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---

A joint's motion, a careful dance,
Limits defined, a measured chance.
From CAD's design to robot's frame,
Precision sought, in every name.
RoM adjusted, with watchful eye,
Ensuring movement, reaching high.

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[gemini-code-assist]

Code Review

The pull request updates the range of motion for the Hip Roll joint of the ergoCub1 robot based on hardware and CAD model verification. The provided images clearly indicate the hard stop locations. The change appears straightforward and necessary for accurate robot operation.

Merge Readiness

The pull request updates a critical parameter for the ergoCub1 robot, the range of motion for the Hip Roll joint. The update is based on verification with the robot and CAD model, and the provided images support the change. Given the importance of accurate joint limits for safe and effective robot operation, I recommend merging this pull request. I am unable to directly approve the pull request, and other reviewers should review and approve this code before merging.