[ergoCubSN000] Gear ratio values of right and left shoulder roll joints do not match

[isorrentino]

Hi all, while checking the parameters needed to control the motors in torque, I noticed that the gear ratio values of the right and left shoulder roll joints do not match. Do they have a different harmonic drive or is this an error? (See the parameter Gearbox_M2J).

• right https://github.com/robotology/robots-configuration/blob/c7c965a9aa1b8295ace3a32c2fb69c18c18794db/ergoCubSN000/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml#L5-L19

• left https://github.com/robotology/robots-configuration/blob/c7c965a9aa1b8295ace3a32c2fb69c18c18794db/ergoCubSN000/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml#L5-L19

cc @lrapetti @ale-git

[pattacini]

Thanks for reporting.

It's most likely an error, but I'm checking that out w/ @Mick3Lozzo. Once done, I'll apply a patch.

[Mick3Lozzo]

gear ratio = 100 @isorrentino

cc @pattacini

[pattacini]

Thanks @Mick3Lozzo 👍🏻 I'll do the PR asap.