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torso-eb5-j0_2-mec.xml
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torso-eb5-j0_2-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"> 3 </param>
<param name="AxisMap"> 0 1 2 </param>
<param name="AxisName"> "torso_roll" "torso_pitch" "torso_yaw" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.0 160.0 -100.0 </param>
<param name="Gearbox_E2J"> 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900576" </param>
<param name="Verbose"> 0 </param>
</group>
<group name="LIMITS">
<param name="hardwareJntPosMax"> 25 65 45 </param>
<param name="hardwareJntPosMin"> -25 -20 -45 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
</group>
<group name="2FOC">
<param name="Verbose"> 0 0 0 </param>
<param name="AutoCalibration"> 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 </param>
<param name="TemperatureSensorType"> PT100 PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<!-- <param name="TemperatureSensorType"> NONE NONE NONE </param> -->
<param name="HasRotorEncoder"> 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 </param>
<param name="RotorIndexOffset"> 155 210 328 </param>
<param name="MotorPoles"> 8 8 8 </param>
</group>
<group name="COUPLINGS">
<param name ="matrixJ2M">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>
<param name ="matrixM2J">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</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"> 3 </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 name="JOINTSET_2">
<param name="listofjoints"> 2 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>
</params>