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iCubGenova11 hard limits precise values updated from CAD (torso and legs)
1 parent 44fece6 commit 9e7bb1d

5 files changed

Lines changed: 38 additions & 37 deletions

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‎iCubGenova11/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml‎

Lines changed: 8 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -9,20 +9,21 @@
99
<param name="AxisName"> "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" </param>
1010
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
1111
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
12-
<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
13-
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
12+
<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
13+
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
1414
<param name="Gearbox_M2J"> -150.0 100.0 -100.0 -100.0 </param>
1515
<param name="Gearbox_E2J"> 1 1 1 1 </param>
1616
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
17-
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" </param>
17+
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" </param>
1818
<param name="Verbose">0</param>
1919
</group>
2020

2121
<group name="LIMITS">
22-
<param name="hardwareJntPosMax"> 92 92 72 0 </param>
23-
<param name="hardwareJntPosMin"> -30 -15 -72 -100 </param>
24-
<param name="rotorPosMin"> 0 0 0 0 </param>
25-
<param name="rotorPosMax"> 0 0 0 0 </param>
22+
<!-- 0 1 2 3 -->
23+
<param name="hardwareJntPosMax"> 134.49 121.12 81.06 4.12 </param>
24+
<param name="hardwareJntPosMin"> -46.49 -21.12 -81.06 -125.12 </param>
25+
<param name="rotorPosMin"> 0 0 0 0 </param>
26+
<param name="rotorPosMax"> 0 0 0 0 </param>
2627
</group>
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<group name="2FOC">

‎iCubGenova11/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml‎

Lines changed: 13 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -5,24 +5,24 @@
55
<group name="GENERAL">
66
<param name="MotioncontrolVersion"> 6 </param>
77
<param name="Joints"> 2 </param>
8-
<param name="AxisMap"> 0 1 </param>
8+
<param name="AxisMap"> 0 1 </param>
99
<param name="AxisName"> "l_ankle_pitch" "l_ankle_roll" </param>
10-
<param name="AxisType"> "revolute" "revolute" </param>
11-
<param name="Encoder"> 182.044 182.044 </param>
12-
<param name="fullscalePWM"> 32000 32000 </param>
13-
<param name="ampsToSensor"> 1000.0 1000.0 </param>
14-
<param name="Gearbox_M2J"> 100.00 100.00 </param>
15-
<param name="Gearbox_E2J"> 1 1 </param>
16-
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" </param>
17-
<param name="useMotorSpeedFbk"> 1 1 </param>
10+
<param name="AxisType"> "revolute" "revolute" </param>
11+
<param name="Encoder"> 182.044 182.044 </param>
12+
<param name="fullscalePWM"> 32000 32000 </param>
13+
<param name="ampsToSensor"> 1000.0 1000.0 </param>
14+
<param name="Gearbox_M2J"> 100.00 100.00 </param>
15+
<param name="Gearbox_E2J"> 1 1 </param>
16+
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" </param>
17+
<param name="useMotorSpeedFbk"> 1 1 </param>
1818
<param name="Verbose"> 0 </param>
1919
</group>
2020

2121
<group name="LIMITS">
22-
<param name="hardwareJntPosMax"> 30.00 20.00 </param>
23-
<param name="hardwareJntPosMin"> -30.00 -20.00 </param>
24-
<param name="rotorPosMin"> 0 0 </param>
25-
<param name="rotorPosMax"> 0 0 </param>
22+
<param name="hardwareJntPosMax"> 35.00 26.06 </param>
23+
<param name="hardwareJntPosMin"> -35.00 -26.06 </param>
24+
<param name="rotorPosMin"> 0 0 </param>
25+
<param name="rotorPosMax"> 0 0 </param>
2626
</group>
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<group name="2FOC">

‎iCubGenova11/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -11,19 +11,19 @@
1111
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
1212
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
1313
<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
14-
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
15-
<param name="Gearbox_M2J"> 150.00 -100.00 100.00 100.00 </param>
14+
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
15+
<param name="Gearbox_M2J"> 150.00 -100.00 100.00 100.00 </param>
1616
<param name="Gearbox_E2J"> 1 1 1 1 </param>
1717
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
18-
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" </param>
18+
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" </param>
1919

2020
<param name="Verbose"> 0 </param>
2121
</group>
2222

2323
<group name="LIMITS">
24-
<!-- 0 1 2 3 -->
25-
<param name="hardwareJntPosMax"> 92 92 72 0 </param>
26-
<param name="hardwareJntPosMin"> -30 -15 -72 -100 </param>
24+
<!-- 0 1 2 3 -->
25+
<param name="hardwareJntPosMax"> 134.49 121.12 81.06 4.12 </param>
26+
<param name="hardwareJntPosMin"> -46.49 -21.12 -81.06 -125.12 </param>
2727
<param name="rotorPosMin"> 0 0 0 0 </param>
2828
<param name="rotorPosMax"> 0 0 0 0 </param>
2929
</group>

‎iCubGenova11/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -9,8 +9,8 @@
99
<param name="AxisName"> "r_ankle_pitch" "r_ankle_roll" </param>
1010
<param name="AxisType"> "revolute" "revolute" </param>
1111
<param name="Encoder"> 182.044 182.044 </param>
12-
<param name="fullscalePWM"> 32000 32000 </param>
13-
<param name="ampsToSensor"> 1000.0 1000.0 </param>
12+
<param name="fullscalePWM"> 32000 32000 </param>
13+
<param name="ampsToSensor"> 1000.0 1000.0 </param>
1414
<param name="Gearbox_M2J"> -100.00 -100.00 </param>
1515
<param name="Gearbox_E2J"> 1.00 1.00 </param>
1616
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" </param>
@@ -19,10 +19,10 @@
1919
</group>
2020

2121
<group name="LIMITS">
22-
<param name="hardwareJntPosMax"> 30 20 </param>
23-
<param name="hardwareJntPosMin"> -30 -20 </param>
24-
<param name="rotorPosMin"> 0 0 </param>
25-
<param name="rotorPosMax"> 0 0 </param>
22+
<param name="hardwareJntPosMax"> 35.00 26.06 </param>
23+
<param name="hardwareJntPosMin"> -35.00 -26.06 </param>
24+
<param name="rotorPosMin"> 0 0 </param>
25+
<param name="rotorPosMax"> 0 0 </param>
2626
</group>
2727

2828
<group name="2FOC">

‎iCubGenova11/hardware/mechanicals/torso-eb5-j0_2-mec.xml‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@
99
<param name="AxisName"> "torso_yaw" "torso_roll" "torso_pitch" </param>
1010
<param name="AxisType"> "revolute" "revolute" "revolute" </param>
1111
<param name="Encoder"> 182.044 182.044 182.044 </param>
12-
<param name="fullscalePWM"> 32000 32000 32000 </param>
12+
<param name="fullscalePWM"> 32000 32000 32000 </param>
1313
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
1414
<param name="Gearbox_M2J"> -100.00 -100.00 -100.00 </param>
1515
<param name="Gearbox_E2J"> 1 1 1 </param>
@@ -19,10 +19,10 @@
1919
</group>
2020

2121
<group name="LIMITS">
22-
<param name="hardwareJntPosMax"> 50 30 70 </param>
23-
<param name="hardwareJntPosMin"> -50 -30 -20 </param>
24-
<param name="rotorPosMin"> 0 0 0 </param>
25-
<param name="rotorPosMax"> 0 0 0 </param>
22+
<param name="hardwareJntPosMax"> 60.84 42.80 70 </param>
23+
<param name="hardwareJntPosMin"> -60.84 -42.80 -25.00 </param>
24+
<param name="rotorPosMin"> 0 0 0 </param>
25+
<param name="rotorPosMax"> 0 0 0 </param>
2626
</group>
2727

2828
<group name="2FOC">

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