Document the coupling law of Hand MK5

[pattacini]

We can publish this piece of info in https://icub-tech-iit.github.io/documentation/hands/.

cc @traversaro @fiorisi

[mfussi66]

At the moment we have the following documents:
Finger_handMk4_kinematics.zip

• the docx contains the kinematic coupling
• the xlsx contains the kinematic quantities

I'll see if I can find other info.

[fiorisi]

I'll see if I can find other info.

Probably @ale-git can point you to additional documentation.

[traversaro]

At the moment we have the following documents: Finger_handMk4_kinematics.zip

* the docx contains the kinematic coupling

* the xlsx contains the kinematic quantities

I'll see if I can find other info.

Just to clarify, does the document refer to mk4 or mk5?

[pattacini]

Just to clarify, does the document refer to mk4 or mk5?

Fingers didn't undergo substantial modifications from mk4 to mk5 in terms of coupling laws, except for the loss of the thumb in-place rotation.

[ale-git]

I'll see if I can find other info.

Probably @ale-git can point you to additional documentation.

Yes, let me dig into my Team Dev old issues...

[ale-git]

The document posted by Silvio is my most recent, anyway in this issue there is some history of the development.
https://github.com/icub-tech-iit/dev/issues/42

Here it is an implementation for the gazebo yarp plugin:

https://github.com/robotology/gazebo-yarp-plugins/blob/fe7a39e932f35488ee292ee77f7d9853b4ac57a6/plugins/controlboard/src/ControlBoardDriverCoupling.cpp#L1136

[Nicogene]

Documentation ported to markdown and added to the online documentation (#249).

For the future maybe it is better to write this documentation directly in markdown in order to ease the insertion in the official documentation.

[pattacini]

Thanks heaps!

For the future maybe it is better to write this documentation directly in markdown in order to ease the insertion in the official documentation.

Very true!