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iCubGenova11 - Adjust wrist pronosup limits (#683)
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@martinaxgloria
martinaxgloria authored Oct 1, 2024
1 parent 5cd989c commit b0bb645
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Showing 2 changed files with 4 additions and 8 deletions.
6 changes: 2 additions & 4 deletions iCubGenova11/hardware/motorControl/left_arm-eb24-j4_7-mc.xml
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<!-- 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>
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<!-- custom PIDs: end -->

</device>


6 changes: 2 additions & 4 deletions iCubGenova11/hardware/motorControl/right_arm-eb27-j4_7-mc.xml
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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>


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