Skip to content

iCubGenova11 - Adjust wrist pronosup limits #683

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Oct 1, 2024
Merged

iCubGenova11 - Adjust wrist pronosup limits #683

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 2 additions & 4 deletions iCubGenova11/hardware/motorControl/left_arm-eb24-j4_7-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
<!-- joint number 0 1 2 3 -->
<!-- joint name "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" -->
<group name="LIMITS">
<param name="jntPosMax"> 60 25 35 60 </param>
<param name="jntPosMin"> -60 -70 -15 10 </param>
<param name="jntPosMax"> 85 25 35 60 </param>
<param name="jntPosMin"> -85 -70 -15 10 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 10000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 5000 1000 1000 600 </param>
Expand Down Expand Up @@ -92,5 +92,3 @@
<!-- custom PIDs: end -->

</device>


6 changes: 2 additions & 4 deletions iCubGenova11/hardware/motorControl/right_arm-eb27-j4_7-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
<!-- joint number 0 1 2 3 -->
<!-- joint name "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" -->
<group name="LIMITS">
<param name="jntPosMax"> 60 25 35 60 </param>
<param name="jntPosMin"> -60 -70 -15 10 </param>
<param name="jntPosMax"> 85 25 35 60 </param>
<param name="jntPosMin"> -85 -70 -15 10 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 10000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 5000 1000 1000 600 </param>
Expand Down Expand Up @@ -92,5 +92,3 @@
<!-- custom PIDs: end -->

</device>