Update thumb joint coupling and abduction–adduction limits #19

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MindKoi wants to merge 1 commit into linker-bot:main from MindKoi:fsy_update_o6_left

MindKoi commented Oct 21, 2025

Modifications applied to the "linkerhand_O6_left.urdf" are as follows:

The linear constraints of the thumb's "thumb_ip" and "thumb_cmc_pitch" joints are incorrect. The original multiplier values are too small and have been updated from 1.89 to 2.29.
The lateral swing range of the thumb's "thumb_cmc_yaw" joint contains an error; the upper limit has been corrected to 1.3.


          Update thumb joint coupling and abduction–adduction limits

271c903

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