From dc9da84187efff215dadec12cd7d804196500484 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Tue, 25 Feb 2025 23:39:13 +0100
Subject: [PATCH] [ergoCubSN001] Removed check of FW version on wrists and mtb

---
 ergoCubSN001/hardware/POS/left_hand-pos2.xml                | 4 ++--
 ergoCubSN001/hardware/POS/left_hand-pos4.xml                | 4 ++--
 ergoCubSN001/hardware/POS/right_hand-pos2.xml               | 4 ++--
 ergoCubSN001/hardware/POS/right_hand-pos4.xml               | 4 ++--
 .../motorControl/left_arm-eb23-j7_10-mc_service.xml         | 4 ++--
 .../motorControl/left_arm-eb25-j11_12-mc_service.xml        | 4 ++--
 .../hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml | 4 ++--
 .../motorControl/right_arm-eb22-j7_10-mc_service.xml        | 4 ++--
 .../motorControl/right_arm-eb24-j11_12-mc_service.xml       | 4 ++--
 .../motorControl/right_arm-eb30-j4_6-mc_service.xml         | 6 +++---
 10 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/ergoCubSN001/hardware/POS/left_hand-pos2.xml b/ergoCubSN001/hardware/POS/left_hand-pos2.xml
index 288259f4c3..b4799ef1f2 100644
--- a/ergoCubSN001/hardware/POS/left_hand-pos2.xml
+++ b/ergoCubSN001/hardware/POS/left_hand-pos2.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/POS/left_hand-pos4.xml b/ergoCubSN001/hardware/POS/left_hand-pos4.xml
index 4da127f0ce..75e06c541f 100644
--- a/ergoCubSN001/hardware/POS/left_hand-pos4.xml
+++ b/ergoCubSN001/hardware/POS/left_hand-pos4.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/POS/right_hand-pos2.xml b/ergoCubSN001/hardware/POS/right_hand-pos2.xml
index 96ec3698a4..fe5c7eeda6 100644
--- a/ergoCubSN001/hardware/POS/right_hand-pos2.xml
+++ b/ergoCubSN001/hardware/POS/right_hand-pos2.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/POS/right_hand-pos4.xml b/ergoCubSN001/hardware/POS/right_hand-pos4.xml
index aab05a0fef..22c5c58930 100644
--- a/ergoCubSN001/hardware/POS/right_hand-pos4.xml
+++ b/ergoCubSN001/hardware/POS/right_hand-pos4.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml
index c85ccb6157..7833c8ec0b 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml
index 3dc0a6e1f2..83c75a579d 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
index a62d0e7b3d..5f6ee091e3 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0           0       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2           0       </param>
-                    <param name="minor">            1           0       </param>
+                    <param name="major">            0           0       </param>
+                    <param name="minor">            0           0       </param>
                     <param name="build">            0           0       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml
index 924f2d9139..508f401274 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml
index fd408aa48c..0413ae4a82 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
index ab9464ee07..5f6ee091e3 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
@@ -20,9 +20,9 @@
                     <param name="minor">            0           0       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2           0       </param>
-                    <param name="minor">            1           0       </param>
-                    <param name="build">            0           0      </param>
+                    <param name="major">            0           0       </param>
+                    <param name="minor">            0           0       </param>
+                    <param name="build">            0           0       </param>
                 </group>
             </group>