Locate the coupling matrix between finger joints and motors values

[kouroshD]

There is a time invariant linear mapping from the motor values to the joint values of the iCub fingers as following:
$$
S_{hand}= A M_{hand}
$$
Where $S_{hand}$ and $M_{hand}$ are the vector of joint values and motor values at each moment, and $A$ is the fixed mapping when there is not any contact.
My questions are:

• If somewhere in firmware we compute $A$ matrix?
• If somewhere $A$ matrix has been exposed?

CC @pattacini @traversaro @xEnVrE

[GiulioRomualdi]

Hi @kouroshD I found this coupling in the configuration file.

See also this one

[kouroshD]

@GiulioRomualdi Thank you for the links, they were interesting. However, as far as I see the values inside the matrices does not coincide with the description of mechanical coupling of the hand according to this paper: A. Schmitz, U. Pattacini, et.al., "Design, Realization and Sensorization of the Dexterous iCub Hand"