Mismatch bewteen the ankle roll motor model of robots configuration and the documentation.

[GiulioRomualdi]

I was checking the motors model mounted on ergoCubSN001 and the one in the documentation https://icub-tech-iit.github.io/documentation/ergoCub1/ergoCub1-joints/

Mismatch	Joint	Motor in the documentation	Motor in robots-config	Link of robots-config
🟢	shoulder pitch	MOOG_C2900576	MOOG-BL-C2900576	here
🟢	shoulder roll	MOOG_C2900576	MOOG-BL-C2900576	here
🟢	shoulder yaw	MOOG_C2900575	MOOG-BL-C2900575	here
🟢	elbow	MOOG_C2900575	MOOG-BL-C2900575	here
🟢	torso roll	MOOG_C2900576	MOOG_C2900576	here
🟢	torso_pitch	MOOG_C2900576	MOOG_C2900576	here
🟢	torso yaw	MOOG_C2900576	MOOG_C2900576	here
🟢	hip pitch	MOOG_C2900580	MOOG_C2900580	here
🟢	hip roll	MOOG_C2900576	MOOG_C2900576	here
🟢	hip yaw	MOOG_C2900576	MOOG_C2900576	here
🟢	knee	MOOG_C2900580	MOOG_C2900580	here
🟢	ankle pitch	MOOG_C2900580	MOOG_C2900580	here
❌	ankle roll	MOOG_C2900576	MOOG_C2900575	here

Which is the correct model mounted on the robot?

[GiulioRomualdi]

cc @isorrentino @Giulero @traversaro @pattacini

[pattacini]

cc @fiorisi

[fiorisi]

@GiulioRomualdi in the robot snapshot we have the MOOG_C2900576.

[pattacini]

I'll update the robots conf files accordingly then.

[pattacini]

I'll update the robots conf files accordingly then.

See robotology/robots-configuration#678.

I've applied the same fix to all the ergoCub robots, blindly. If this is not correct, I'll change the PR. Let me know @fiorisi

[pattacini]

I've applied the same fix to all the ergoCub robots, blindly. If this is not correct, I'll change the PR. Let me know @fiorisi

Verified with @fiorisi: all ergoCub robots mount the same ankle motor.