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unitree_ros
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update hip pitch joint limit

This commit is contained in:
yecheng.shao 2024-01-22 21:09:06 +08:00
parent 1a3e6489c0
commit 39c9da3e6b
4 changed files with 16 additions and 16 deletions
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8
robots/h1_description/urdf/h1.urdf
View File

@ -227,8 +227,8 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="1.57"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>
@ -517,8 +517,8 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="1.57"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>

8
robots/h1_description/urdf/h1_isaacgym.urdf
View File

@ -227,8 +227,8 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="1.57"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>
@ -517,8 +517,8 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="1.57"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>

8
robots/h1_description/urdf/h1_with_hand.urdf
View File

@ -209,8 +209,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="0.56"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>
@ -499,8 +499,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="0.56"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>

8
robots/h1_description/urdf/h1_with_hand_isaacgym.urdf
View File

@ -209,8 +209,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="0.56"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>
@ -499,8 +499,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.57"
upper="0.56"
lower="-3.14"
upper="2.53"
effort="200"
velocity="23" />
</joint>