Provide page on ergoCub joint specs

[divyashah]

I observed that the details for a few of the joints in iCub 3 joints specs, in particular Motor type and Harmonic drive, are not up to date with the latest CAD model. I believe the documentation has not been updated after some of the latest upgrades on iCub 3.

I noticed mainly the following inconsistencies:

• Joint 12, 18 - left, right foot roll: Motor type should be updated from MOOG_C2900575 to MOOG_C2900576 and Harmonic drive should be updated from CSD-17-160-2A to CSD-17-100-2A.
• Joint 7, 13 - left, right hip pitch: Harmonic drive should be updated from CSD-20-100-2UH to CSD-25-100-2UH.
• Upperbody Joints specs: For all of the upperbody joints, namely yaw, shoulder_pitch, shoulder_roll, upperarm_yaw and elbow, the details on Harmonic drive are missing.

How shall we proceed in order to update the iCub 3 joints specs documentation ??
cc @fiorisi @pattacini

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⚠️ We changed the original scope of this issue as per #184 (comment).

[pattacini]

How shall we proceed in order to update the iCub 3 joints specs documentation ??

Hi @divyashah

PR's are more than welcome.
Just calling for @salvi-mattia review as well.

[pattacini]

Hi @divyashah

Would you be willing to contribute on this?

[divyashah]

Hi @divyashah

Would you be willing to contribute on this?

Hi @pattacini

Yes, I can contribute on this.
However, should I update now modify the page on iCub3 itself or shall we create a new page for ergoCub1 ?

[pattacini]

Yes, I can contribute on this.

Thanks heaps @divyashah! Very much appreciated.

However, should I update now modify the page on iCub3 itself or shall we create a new page for ergoCub1 ?

My hunch is that we should move to ergoCub, whose joint specs are missing in the documentation. Such a page is very overdue ⏰

I reckon that to start with, it'd be sufficient to create a page similar to that of iCub 3 but without images, to keep things simple.

What do you think?

cc @maggia80 @fiorisi @salvi-mattia @traversaro

[divyashah]

My hunch is that we should move to ergoCub, whose joint specs are missing in the documentation. Such a page is very overdue ⏰

I reckon that to start with, it'd be sufficient to create a page similar to that of iCub 3 but without images, to keep things simple.

Yes, sounds good. We can add images later. I will start preparing a draft on this.

[pattacini]

Superb!

If it's your first-time contribution, I'd suggest you rely on this workflow that uses forks to generate the temporary website:

• https://github.com/icub-tech-iit/documentation#-github-pages-on-forks

[pattacini]

Hi @divyashah
While addressing this task, please account for #175 (comment).

cc @traversaro