[iCubSingapore01] Fix Gearbox values

[AntonioConsilvio]

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:

• [iCubSingapore01] Updating Configuration Files #552

cc @sgiraz

[pattacini]

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]

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).

[pattacini]

Ok clear now: the hip pitch has a further 1.5 ratio due to the cable transmission.

Thanks @fiorisi 👍🏻

I've also checked that e.g. iCubGenova11 has the same ratios.