Update ergoCub1 wrist range of motion

[fiorisi]

The PR updates:

• The range of motion of the wrist roll and wrist pitch.
• The range of motion of the index ab/adduction.

Associated documentation:

• Wrist: robot configuration file
• Index: CAD model
  

[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 for the wrist roll and wrist pitch joints of the ergoCub1 robot, as documented in the ergoCub1-joints.md file. The hardware and software limits for both joints have been adjusted. The changes are based on issue #202 in the ergocub-design-lowerarm repository and the robots-configuration repository.

Highlights

• Wrist Roll Range Update: The hardware and software range of motion for the wrist roll joint has been updated from -62/+52 degrees and -60/+50 degrees to -20/+30 degrees, respectively.
• Wrist Pitch Range Update: The hardware and software range of motion for the wrist pitch joint has been updated from -32/+32 degrees and -30/+30 degrees to -20/+20 degrees, respectively.

Changelog

• docs/ergoCub1/ergoCub1-joints.md
  • Updated the hardware and software range of motion for the wrist roll joint from -62/+52 and -60/+50 degrees to -20/+30 degrees.
  • Updated the hardware and software range of motion for the wrist pitch joint from -32/+32 and -30/+30 degrees to -20/+20 degrees.

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Trivia time!

What is the purpose of a spherical parallel mechanism, as mentioned in the documentation?

Click here for the answer

Spherical parallel mechanisms are used to achieve three rotational degrees of freedom about a fixed point, often used in robotic wrists to provide dexterity.

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[gemini-code-assist]

Code Review

The pull request updates the range of motion for the wrist roll and wrist pitch joints in the ergoCub1 robot's documentation. The changes appear to be straightforward updates to numerical values in a table.

Merge Readiness

The pull request appears to be a simple documentation update, and the provided links to associated documentation seem to support the changes. I am unable to directly approve the pull request, and users should have others review and approve this code before merging. Given the limited scope and the supporting documentation, the pull request seems ready for merging.

[pattacini]

Thanks!