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right_leg-eb7-j4_5-mec.xml
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right_leg-eb7-j4_5-mec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN001" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 2 </param>
<param name="AxisMap"> 0 1 </param>
<param name="AxisName"> "r_ankle_pitch" "r_ankle_roll" </param>
<param name="AxisType"> "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.0 160.0 </param>
<param name="Gearbox_E2J"> 64 32 </param>
<param name="useMotorSpeedFbk"> 1 1 </param>
<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" </param>
<param name="Verbose"> 0 </param>
</group>
<group name="LIMITS">
<param name="hardwareJntPosMax"> 45.94 25.786 </param>
<param name="hardwareJntPosMin"> -45.94 -25.786 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
</group>
<group name="2FOC">
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the ankel roll. -->
<!-- <param name="TemperatureSensorType"> NONE NONE </param> -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
<param name="RotorIndexOffset"> 175 8 </param>
<param name="MotorPoles"> 12 8 </param>
</group>
<group name="COUPLINGS">
<param name ="matrixJ2M">
1.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00
0.00 0.00 1.00 0.00
0.00 0.00 0.00 1.00
</param>
<param name ="matrixM2J">
1.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00
0.00 0.00 1.00 0.00
0.00 0.00 0.00 1.00
</param>
<param name ="matrixE2J">
1.00 0.00 0.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00 0.00 0.00
0.00 0.00 1.00 0.00 0.00 0.00
0.00 0.00 0.00 1.00 0.00 0.00
</param>
</group>
<group name="JOINTSET_CFG">
<param name= "numberofsets"> 2 </param>
<group name="JOINTSET_0">
<param name="listofjoints"> 0 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
<group name="JOINTSET_1">
<param name="listofjoints"> 1 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>
</params>