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Copy pathhead-eb21-j2_5-mec.xml
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head-eb21-j2_5-mec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubGenova11" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 4 </param> <!-- the number of joints of the robot part -->
<!-- joint number in sub-part 0 1 2 3 -->
<!-- joint name neck-yaw eyes-tilt eyes-vers eyes-verg --> <!-- j2 is right-eye, j3 is left-eye -->
<param name="AxisMap"> 0 1 2 3 </param>
<param name="AxisName"> "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100 -141 50 50 </param>
<param name="Gearbox_E2J"> 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
<param name="MotorType"> "DC" "DC" "DC" "DC" </param>
<param name="Verbose"> 0 </param>
</group>
<group name="LIMITS">
<param name="hardwareJntPosMin"> -45 -30 -45 0 </param>
<param name="hardwareJntPosMax"> +45 +30 +45 +45 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
</group>
<group name="COUPLINGS">
<param name ="matrixJ2M">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 -1.000
0.000 0.000 1.000 1.000
</param>
<param name ="matrixM2J">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 0.500 0.500
0.000 0.000 -1.000 1.000
</param>
<param name ="matrixE2J">
1.000 0.000 0.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000 0.000 0.000
0.000 0.000 1.000 0.000 0.000 0.000
0.000 0.000 0.000 1.000 0.000 0.000
</param>
</group>
<group name="JOINTSET_CFG">
<param name= "numberofsets"> 3 </param>
<group name="JOINTSET_0">
<param name="listofjoints"> 0 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
<group name="JOINTSET_1">
<param name="listofjoints"> 1 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
<group name="JOINTSET_2">
<param name="listofjoints"> 2 3 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>
</params>