ergoCub 1.3 S/N:002 – wrist joints: reference positions differ from measured ones

[PasMarra]

Robot Name 🤖

ergoCub 1.3 S/N:002

Request/Failure description

reference positions retrieved by yarp::dev::IPositionDirect::getRefPosition() are very different from measured positions retrieved by yarp::dev::IEncoders::getEncoders()

These are l_wrist_yaw, l_wrist_roll, l_wrist_pitch in radiants:

Detailed context

An analogous problem was present in ergoCubSN001 and was caused by the firmware, see here

cc @ale-git

Additional context

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How does it affect you?

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