diff --git a/iCubGenova01/hardware/motorControl/icub_head.xml b/iCubGenova01/hardware/motorControl/icub_head.xml index 268d003c77..085942a3fe 100644 --- a/iCubGenova01/hardware/motorControl/icub_head.xml +++ b/iCubGenova01/hardware/motorControl/icub_head.xml @@ -33,6 +33,8 @@ "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" 11.375 -11.375 11.375 11.375 568.880 284.440 180.00 -180.00 180.00 180.00 -45.00 0.00 + 1333 1333 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 diff --git a/iCubGenova01/hardware/motorControl/icub_head_test.xml b/iCubGenova01/hardware/motorControl/icub_head_test.xml index 3e3e84f05e..bc3cc29ebb 100644 --- a/iCubGenova01/hardware/motorControl/icub_head_test.xml +++ b/iCubGenova01/hardware/motorControl/icub_head_test.xml @@ -41,6 +41,8 @@ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 1333 1333 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 0 diff --git a/iCubGenova01/hardware/motorControl/icub_left_arm.xml b/iCubGenova01/hardware/motorControl/icub_left_arm.xml index 5bbaf590bc..a42810af24 100644 --- a/iCubGenova01/hardware/motorControl/icub_left_arm.xml +++ b/iCubGenova01/hardware/motorControl/icub_left_arm.xml @@ -35,7 +35,8 @@ "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" -11.375 -11.375 -11.375 -11.375 706.67 -11.375 11.375 5 -180.00 -326.00 20.26 -187.00 -75.00 -180.00 180.00 400.00 - + 800 800 800 800 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 diff --git a/iCubGenova01/hardware/motorControl/icub_left_hand.xml b/iCubGenova01/hardware/motorControl/icub_left_hand.xml index fd571dceab..a0bd9f011f 100644 --- a/iCubGenova01/hardware/motorControl/icub_left_hand.xml +++ b/iCubGenova01/hardware/motorControl/icub_left_hand.xml @@ -35,7 +35,8 @@ "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" 8.889 -2.167 -2.765 -2.611 -2.565 -2.722 -2.812 -2.460 140.63 -108.46 -175.43 -93.83 -182.48 -90.00 -175.33 -288.62 - + 1333 1333 1333 1333 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/iCubGenova01/hardware/motorControl/icub_left_leg.xml b/iCubGenova01/hardware/motorControl/icub_left_leg.xml index 84597ad753..7c5ec5ede6 100644 --- a/iCubGenova01/hardware/motorControl/icub_left_leg.xml +++ b/iCubGenova01/hardware/motorControl/icub_left_leg.xml @@ -35,7 +35,9 @@ 185 176.5 172.8 -179.4 -175.8 183.8 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C 0 1 2 3 4 5 - 24 24 24 24 24 24 + 24 24 24 24 24 24 + 800 800 800 800 800 800 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 0 diff --git a/iCubGenova01/hardware/motorControl/icub_right_arm.xml b/iCubGenova01/hardware/motorControl/icub_right_arm.xml index 391aa1dee9..adac7f5a74 100644 --- a/iCubGenova01/hardware/motorControl/icub_right_arm.xml +++ b/iCubGenova01/hardware/motorControl/icub_right_arm.xml @@ -33,7 +33,8 @@ 0 1 2 3 4 5 6 7 11.375 11.375 11.375 11.375 -706.67 11.375 -11.375 4.3333333 180.00 36.00 230.74 176.00 -75.00 180.00 -180.00 385.38 - + 800 800 800 800 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" diff --git a/iCubGenova01/hardware/motorControl/icub_right_hand.xml b/iCubGenova01/hardware/motorControl/icub_right_hand.xml index e224c03ed5..81a941289b 100644 --- a/iCubGenova01/hardware/motorControl/icub_right_hand.xml +++ b/iCubGenova01/hardware/motorControl/icub_right_hand.xml @@ -35,6 +35,8 @@ "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" 6.111 -1.922 -2.753 -2.500 -2.576 -2.722 -2.676 -2.220 201.27 -121.21 -170.00 -95.20 -183.58 -93.67 -172.62 -315.32 + 1333 1333 1333 1333 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/iCubGenova01/hardware/motorControl/icub_right_leg.xml b/iCubGenova01/hardware/motorControl/icub_right_leg.xml index c5bd1f478c..0daf822e5c 100644 --- a/iCubGenova01/hardware/motorControl/icub_right_leg.xml +++ b/iCubGenova01/hardware/motorControl/icub_right_leg.xml @@ -35,7 +35,9 @@ -172.9 -181.4 -124.5 178.8 183.5 -176.4 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B 0 1 2 3 4 5 - 24 24 24 24 24 24 + 24 24 24 24 24 24 + 800 800 800 800 800 800 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 0 diff --git a/iCubGenova01/hardware/motorControl/icub_torso.xml b/iCubGenova01/hardware/motorControl/icub_torso.xml index 1deb312a5e..2edff60218 100644 --- a/iCubGenova01/hardware/motorControl/icub_torso.xml +++ b/iCubGenova01/hardware/motorControl/icub_torso.xml @@ -37,7 +37,9 @@ 0 1 2 0 12 12 12 0 0 - + 800 800 800 800 + 1000.0 1000.0 1000.0 1000.0 + 8 8 8 8 diff --git a/iCubGenova02/hardware/mechanicals/face-j0_1-mec.xml b/iCubGenova02/hardware/mechanicals/face-j0_1-mec.xml index 336412f76e..ee7e8105cc 100644 --- a/iCubGenova02/hardware/mechanicals/face-j0_1-mec.xml +++ b/iCubGenova02/hardware/mechanicals/face-j0_1-mec.xml @@ -18,7 +18,9 @@ 0 0 0 1 0 0 - 182.044 182.044 + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 0 0 0 0 0 0 diff --git a/iCubGenova02/hardware/mechanicals/face-j2_5-mec.xml b/iCubGenova02/hardware/mechanicals/face-j2_5-mec.xml index 3023736dc3..a6154ce82a 100644 --- a/iCubGenova02/hardware/mechanicals/face-j2_5-mec.xml +++ b/iCubGenova02/hardware/mechanicals/face-j2_5-mec.xml @@ -20,7 +20,9 @@ 0 0 0 0 1 1 1 1 0 0 0 0 - 182.044 182.044 182.044 182.044 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/iCubGenova02/hardware/mechanicals/head-j0_1-mec.xml b/iCubGenova02/hardware/mechanicals/head-j0_1-mec.xml index a75488af54..c130dbb548 100644 --- a/iCubGenova02/hardware/mechanicals/head-j0_1-mec.xml +++ b/iCubGenova02/hardware/mechanicals/head-j0_1-mec.xml @@ -15,6 +15,8 @@ "neck_pitch" "neck_roll" "revolute" "revolute" 182.044 182.044 + 3360 3360 + 1000.0 1000.0 161.68 161.68 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/head-j2_5-mec.xml b/iCubGenova02/hardware/mechanicals/head-j2_5-mec.xml index ca725d3f1c..a0b8ac4313 100644 --- a/iCubGenova02/hardware/mechanicals/head-j2_5-mec.xml +++ b/iCubGenova02/hardware/mechanicals/head-j2_5-mec.xml @@ -17,7 +17,9 @@ "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 - 100 -141 50 50 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 -141 50 50 1 1 1 1 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/left_lower_arm-ems2-mec.xml b/iCubGenova02/hardware/mechanicals/left_lower_arm-ems2-mec.xml index cae2d4e558..08f25094fb 100644 --- a/iCubGenova02/hardware/mechanicals/left_lower_arm-ems2-mec.xml +++ b/iCubGenova02/hardware/mechanicals/left_lower_arm-ems2-mec.xml @@ -10,6 +10,8 @@ "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 + 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/left_lower_leg-ems7-mec.xml b/iCubGenova02/hardware/mechanicals/left_lower_leg-ems7-mec.xml index c0f7d0584f..67c1691189 100644 --- a/iCubGenova02/hardware/mechanicals/left_lower_leg-ems7-mec.xml +++ b/iCubGenova02/hardware/mechanicals/left_lower_leg-ems7-mec.xml @@ -9,6 +9,8 @@ "l_ankle_pitch" "l_ankle_roll" "revolute" "revolute" 182.044 182.044 + 32000 32000 + 1000.0 1000.0 100.00 100.00 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/left_upper_arm-ems1-mec.xml b/iCubGenova02/hardware/mechanicals/left_upper_arm-ems1-mec.xml index 2cac90250e..0dd9760d3f 100644 --- a/iCubGenova02/hardware/mechanicals/left_upper_arm-ems1-mec.xml +++ b/iCubGenova02/hardware/mechanicals/left_upper_arm-ems1-mec.xml @@ -9,6 +9,8 @@ "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 100.00 100.00 100.00 100.00 1 1 1 1 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/left_upper_leg-ems6-mec.xml b/iCubGenova02/hardware/mechanicals/left_upper_leg-ems6-mec.xml index e9abadc32a..51c4fac35e 100644 --- a/iCubGenova02/hardware/mechanicals/left_upper_leg-ems6-mec.xml +++ b/iCubGenova02/hardware/mechanicals/left_upper_leg-ems6-mec.xml @@ -9,6 +9,8 @@ "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 -100.0 100.0 -100.0 -100.0 1 1 1 1 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/right_lower_arm-ems4-mec.xml b/iCubGenova02/hardware/mechanicals/right_lower_arm-ems4-mec.xml index 7ad4bb3b93..548263764a 100644 --- a/iCubGenova02/hardware/mechanicals/right_lower_arm-ems4-mec.xml +++ b/iCubGenova02/hardware/mechanicals/right_lower_arm-ems4-mec.xml @@ -10,6 +10,8 @@ "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 + 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -254440 4096 -4096 65535 65535 65535 65535 65535 65535 65535 65535 65535 diff --git a/iCubGenova02/hardware/mechanicals/right_lower_leg-ems9-mec.xml b/iCubGenova02/hardware/mechanicals/right_lower_leg-ems9-mec.xml index 0473ec0c7e..6988dd847c 100644 --- a/iCubGenova02/hardware/mechanicals/right_lower_leg-ems9-mec.xml +++ b/iCubGenova02/hardware/mechanicals/right_lower_leg-ems9-mec.xml @@ -9,6 +9,8 @@ "r_ankle_pitch" "r_ankle_roll" "revolute" "revolute" 182.044 182.044 + 32000 32000 + 1000.0 1000.0 -100.00 -100.00 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/right_upper_arm-ems3-mec.xml b/iCubGenova02/hardware/mechanicals/right_upper_arm-ems3-mec.xml index d99396eaed..0b0d730863 100644 --- a/iCubGenova02/hardware/mechanicals/right_upper_arm-ems3-mec.xml +++ b/iCubGenova02/hardware/mechanicals/right_upper_arm-ems3-mec.xml @@ -9,6 +9,8 @@ "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 -100.00 -100.00 -100.00 -100.00 1 1 1 1 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/right_upper_leg-ems8-mec.xml b/iCubGenova02/hardware/mechanicals/right_upper_leg-ems8-mec.xml index 2f4cb589cf..635a8916bd 100644 --- a/iCubGenova02/hardware/mechanicals/right_upper_leg-ems8-mec.xml +++ b/iCubGenova02/hardware/mechanicals/right_upper_leg-ems8-mec.xml @@ -10,6 +10,8 @@ "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 100.00 -100.00 100.00 100.00 1 1 1 1 1 1 1 1 diff --git a/iCubGenova02/hardware/mechanicals/torso-ems5-mec.xml b/iCubGenova02/hardware/mechanicals/torso-ems5-mec.xml index 144914f58f..b8b94964b8 100644 --- a/iCubGenova02/hardware/mechanicals/torso-ems5-mec.xml +++ b/iCubGenova02/hardware/mechanicals/torso-ems5-mec.xml @@ -9,6 +9,8 @@ "torso_yaw" "torso_roll" "torso_pitch" "revolute" "revolute" "revolute" 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 -100.00 -100.00 -100.00 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/head-j0_1-mec.xml b/iCubGenova04/hardware/mechanicals/head-j0_1-mec.xml index 40d046de39..0cc68c3e3b 100644 --- a/iCubGenova04/hardware/mechanicals/head-j0_1-mec.xml +++ b/iCubGenova04/hardware/mechanicals/head-j0_1-mec.xml @@ -15,6 +15,8 @@ "neck-pitch" "neck-roll" "revolute" "revolute" 182.044 182.044 + 3360 3360 + 1000.0 1000.0 161.68 161.68 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/head-j2_5-mec.xml b/iCubGenova04/hardware/mechanicals/head-j2_5-mec.xml index 295b5f3482..eb26389477 100644 --- a/iCubGenova04/hardware/mechanicals/head-j2_5-mec.xml +++ b/iCubGenova04/hardware/mechanicals/head-j2_5-mec.xml @@ -17,7 +17,9 @@ "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 - 100 -141 50 50 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 -141 50 50 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/left_arm-j0_3-mec.xml b/iCubGenova04/hardware/mechanicals/left_arm-j0_3-mec.xml index 4bb351f8dd..cb2a95c3a3 100644 --- a/iCubGenova04/hardware/mechanicals/left_arm-j0_3-mec.xml +++ b/iCubGenova04/hardware/mechanicals/left_arm-j0_3-mec.xml @@ -9,6 +9,8 @@ "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 100.00 100.00 100.00 100.00 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/left_arm-j12_15-mec.xml b/iCubGenova04/hardware/mechanicals/left_arm-j12_15-mec.xml index bab4c28ad9..5bc25c85ab 100644 --- a/iCubGenova04/hardware/mechanicals/left_arm-j12_15-mec.xml +++ b/iCubGenova04/hardware/mechanicals/left_arm-j12_15-mec.xml @@ -11,6 +11,8 @@ "revolute" "revolute" "revolute" "revolute" 0 1 2 3 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 256 256 256 256 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/left_arm-j4_7-mec.xml b/iCubGenova04/hardware/mechanicals/left_arm-j4_7-mec.xml index 20cba2ad4c..411aba6599 100644 --- a/iCubGenova04/hardware/mechanicals/left_arm-j4_7-mec.xml +++ b/iCubGenova04/hardware/mechanicals/left_arm-j4_7-mec.xml @@ -11,6 +11,8 @@ "revolute" "revolute" "revolute" "revolute" 0 1 2 3 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 -100 159 159 256 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/left_arm-j8_11-mec.xml b/iCubGenova04/hardware/mechanicals/left_arm-j8_11-mec.xml index 951dcd8722..1eb4cf07ef 100644 --- a/iCubGenova04/hardware/mechanicals/left_arm-j8_11-mec.xml +++ b/iCubGenova04/hardware/mechanicals/left_arm-j8_11-mec.xml @@ -11,6 +11,8 @@ "revolute" "revolute" "revolute" "revolute" 0 1 2 3 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 256 256 256 256 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/left_lower_leg-ems7-mec.xml b/iCubGenova04/hardware/mechanicals/left_lower_leg-ems7-mec.xml index bfd76782ac..5c5ce21dd6 100644 --- a/iCubGenova04/hardware/mechanicals/left_lower_leg-ems7-mec.xml +++ b/iCubGenova04/hardware/mechanicals/left_lower_leg-ems7-mec.xml @@ -9,6 +9,8 @@ "l_ankle_pitch" "l_ankle_roll" "revolute" "revolute" 182.044 182.044 + 32000 32000 + 1000.0 1000.0 100.00 100.00 1 1 "BLL_MOOG" "BLL_MOOG" diff --git a/iCubGenova04/hardware/mechanicals/left_upper_leg-ems6-mec.xml b/iCubGenova04/hardware/mechanicals/left_upper_leg-ems6-mec.xml index 5c4d6ebe3b..295e05c491 100644 --- a/iCubGenova04/hardware/mechanicals/left_upper_leg-ems6-mec.xml +++ b/iCubGenova04/hardware/mechanicals/left_upper_leg-ems6-mec.xml @@ -9,6 +9,8 @@ "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 -100.0 100.0 -100.0 -100.0 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/right_arm-j0_3-mec.xml b/iCubGenova04/hardware/mechanicals/right_arm-j0_3-mec.xml index 37e6e19265..c09ad35d7b 100644 --- a/iCubGenova04/hardware/mechanicals/right_arm-j0_3-mec.xml +++ b/iCubGenova04/hardware/mechanicals/right_arm-j0_3-mec.xml @@ -9,6 +9,8 @@ "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 -100.00 -100.00 -100.00 -100.00 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/right_arm-j12_15-mec.xml b/iCubGenova04/hardware/mechanicals/right_arm-j12_15-mec.xml index 9f845e625e..7a306cf900 100644 --- a/iCubGenova04/hardware/mechanicals/right_arm-j12_15-mec.xml +++ b/iCubGenova04/hardware/mechanicals/right_arm-j12_15-mec.xml @@ -11,6 +11,8 @@ "revolute" "revolute" "revolute" "revolute" 0 1 2 3 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 256 256 256 256 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/right_arm-j4_7-mec.xml b/iCubGenova04/hardware/mechanicals/right_arm-j4_7-mec.xml index 597ca60bfd..c45e66689b 100644 --- a/iCubGenova04/hardware/mechanicals/right_arm-j4_7-mec.xml +++ b/iCubGenova04/hardware/mechanicals/right_arm-j4_7-mec.xml @@ -11,6 +11,8 @@ "revolute" "revolute" "revolute" "revolute" 0 1 2 3 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 100 159 159 256 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/right_arm-j8_11-mec.xml b/iCubGenova04/hardware/mechanicals/right_arm-j8_11-mec.xml index 222afcf8df..e8294e2e43 100644 --- a/iCubGenova04/hardware/mechanicals/right_arm-j8_11-mec.xml +++ b/iCubGenova04/hardware/mechanicals/right_arm-j8_11-mec.xml @@ -11,6 +11,8 @@ "revolute" "revolute" "revolute" "revolute" 0 1 2 3 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 256 256 256 256 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/right_lower_leg-ems9-mec.xml b/iCubGenova04/hardware/mechanicals/right_lower_leg-ems9-mec.xml index a72bc5d907..758a4bd676 100644 --- a/iCubGenova04/hardware/mechanicals/right_lower_leg-ems9-mec.xml +++ b/iCubGenova04/hardware/mechanicals/right_lower_leg-ems9-mec.xml @@ -9,6 +9,8 @@ "r_ankle_pitch" "r_ankle_roll" "revolute" "revolute" 182.044 182.044 + 32000 32000 + 1000.0 1000.0 -100.00 -100.00 1.00 1.00 "BLL_MOOG" "BLL_MOOG" diff --git a/iCubGenova04/hardware/mechanicals/right_upper_leg-ems8-mec.xml b/iCubGenova04/hardware/mechanicals/right_upper_leg-ems8-mec.xml index 1777f7d7f2..4c49b2613d 100644 --- a/iCubGenova04/hardware/mechanicals/right_upper_leg-ems8-mec.xml +++ b/iCubGenova04/hardware/mechanicals/right_upper_leg-ems8-mec.xml @@ -10,6 +10,8 @@ "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" "revolute" "revolute" "revolute" "revolute" 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 100.00 -100.00 100.00 100.00 1 1 1 1 1 1 1 1 diff --git a/iCubGenova04/hardware/mechanicals/torso-ems5-mec.xml b/iCubGenova04/hardware/mechanicals/torso-ems5-mec.xml index 7ed35b16de..0c96065e4b 100644 --- a/iCubGenova04/hardware/mechanicals/torso-ems5-mec.xml +++ b/iCubGenova04/hardware/mechanicals/torso-ems5-mec.xml @@ -9,6 +9,8 @@ "torso_yaw" "torso_roll" "torso_pitch" "revolute" "revolute" "revolute" 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 -100.00 -100.00 -100.00 1 1 1 1 1 1