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robotology / robots-configuration

Contains robots configuration files
BSD 3-Clause "New" or "Revised" License
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[iCubSingapore01] Fix Gearbox values #556

Closed AntonioConsilvio closed 1 year ago

AntonioConsilvio commented 1 year ago

What changes:

This PR fix the value of the joint 0 (pitch) of both legs from 100 to 150.

Note:

This is the second PR concerning iCubSingapore01's maintenance, the first is:

cc @sgiraz

pattacini commented 1 year ago

Hi @AntonioConsilvio

This PR fix the value of the joint 0 (pitch) of both legs from 100 to 150.

It's the first time that I see a gear ratio = 150:1. Our HD sizes for these joints are generally 100:1 or 160:1. Can you please confirm?

cc @fiorisi

fiorisi commented 1 year ago

Hi @AntonioConsilvio

This PR fix the value of the joint 0 (pitch) of both legs from 100 to 150.

It's the first time that I see a gear ratio = 150:1. Our HD sizes for these joints are generally 100:1 or 160:1. Can you please confirm?

cc @fiorisi

Might be related to this discussion (see section Further details on the hip_pitch joint).