From 4670904ea1e707418f0b4a795d6a5ca7e28699bd Mon Sep 17 00:00:00 2001
From: Antonio Consilvio <antonio.consilvio@iit.it>
Date: Mon, 21 Aug 2023 16:25:28 +0200
Subject: [PATCH] [iCubSingapore01] Fix Gearbox values (#556)

---
 iCubSingapore01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml  | 2 +-
 iCubSingapore01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/iCubSingapore01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml b/iCubSingapore01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml
index 976bfa14b4..33cfca24b3 100644
--- a/iCubSingapore01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml
+++ b/iCubSingapore01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml
@@ -11,7 +11,7 @@
         <param name="Encoder">         182.044       182.044       182.044       182.044       </param>     
         <param name="fullscalePWM">   32000         32000         32000         32000    </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0           1000.0      </param>
-        <param name="Gearbox_M2J">   	-100.0         100.0        -100.0         -100.0      </param>
+        <param name="Gearbox_M2J">   	-150.0         100.0        -100.0         -100.0      </param>
         <param name="Gearbox_E2J">   	1             1             1              1           </param>
         <param name="useMotorSpeedFbk"> 1             1             1              1           </param>
         <param name="MotorType">       "BLL_MOOG"     "BLL_MOOG"   "BLL_MOOG"    "BLL_MOOG"   </param>
diff --git a/iCubSingapore01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml b/iCubSingapore01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml
index 7bcdb4e684..900115cb73 100644
--- a/iCubSingapore01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml
+++ b/iCubSingapore01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml
@@ -12,7 +12,7 @@
         <param name="Encoder">         182.044       182.044       182.044       182.044   </param>
         <param name="fullscalePWM">   32000         32000         32000         32000    </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0        1000.0      </param>
-        <param name="Gearbox_M2J">      100.00        -100.00       100.00        100.00   </param>
+        <param name="Gearbox_M2J">      150.00        -100.00       100.00        100.00   </param>
         <param name="Gearbox_E2J">   	1             1             1              1       </param>
         <param name="useMotorSpeedFbk"> 1             1             1              1       </param>
         <param name="MotorType">       "BLL_MOOG"     "BLL_MOOG"   "BLL_MOOG"  "BLL_MOOG" </param>