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unitree_ros
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update joint limit

This commit is contained in:
matheecs 2025-03-27 13:28:37 +08:00
parent 309665e160
commit 5ae4fa58d3
13 changed files with 68 additions and 68 deletions
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8
robots/g1_description/g1_23dof.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->

8
robots/g1_description/g1_23dof_rev_1_0.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->

12
robots/g1_description/g1_29dof.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->
@ -484,7 +484,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -513,7 +513,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->

12
robots/g1_description/g1_29dof_lock_waist.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->
@ -484,7 +484,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -513,7 +513,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->

12
robots/g1_description/g1_29dof_lock_waist_rev_1_0.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->
@ -484,7 +484,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -513,7 +513,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->

12
robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->
@ -484,7 +484,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -513,7 +513,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->

12
robots/g1_description/g1_29dof_rev_1_0.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->
@ -484,7 +484,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -513,7 +513,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->

12
robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf
View File

@ -193,7 +193,7 @@
<parent link="left_knee_link" />
<child link="left_ankle_pitch_link" />
<axis xyz="0 1 0" />
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37" />
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -240,7 +240,7 @@
<parent link="left_ankle_pitch_link" />
<child link="left_ankle_roll_link" />
<axis xyz="1 0 0" />
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37" />
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -385,7 +385,7 @@
<parent link="right_knee_link" />
<child link="right_ankle_pitch_link" />
<axis xyz="0 1 0" />
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37" />
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -432,7 +432,7 @@
<parent link="right_ankle_pitch_link" />
<child link="right_ankle_roll_link" />
<axis xyz="1 0 0" />
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37" />
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
</joint>
@ -480,7 +480,7 @@
<parent link="waist_yaw_link" />
<child link="waist_roll_link" />
<axis xyz="1 0 0" />
<limit lower="-0.52" upper="0.52" effort="50" velocity="37" />
<limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
</joint>
<link name="torso_link">
<inertial>
@ -509,7 +509,7 @@
<parent link="waist_roll_link" />
<child link="torso_link" />
<axis xyz="0 1 0" />
<limit lower="-0.52" upper="0.52" effort="50" velocity="37" />
<limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
</joint>

12
robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf
View File

@ -193,7 +193,7 @@
<parent link="left_knee_link" />
<child link="left_ankle_pitch_link" />
<axis xyz="0 1 0" />
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37" />
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -240,7 +240,7 @@
<parent link="left_ankle_pitch_link" />
<child link="left_ankle_roll_link" />
<axis xyz="1 0 0" />
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37" />
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -385,7 +385,7 @@
<parent link="right_knee_link" />
<child link="right_ankle_pitch_link" />
<axis xyz="0 1 0" />
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37" />
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -432,7 +432,7 @@
<parent link="right_ankle_pitch_link" />
<child link="right_ankle_roll_link" />
<axis xyz="1 0 0" />
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37" />
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
</joint>
@ -480,7 +480,7 @@
<parent link="waist_yaw_link" />
<child link="waist_roll_link" />
<axis xyz="1 0 0" />
<limit lower="-0.52" upper="0.52" effort="50" velocity="37" />
<limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
</joint>
<link name="torso_link">
<inertial>
@ -509,7 +509,7 @@
<parent link="waist_roll_link" />
<child link="torso_link" />
<axis xyz="0 1 0" />
<limit lower="-0.52" upper="0.52" effort="50" velocity="37" />
<limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
</joint>

12
robots/g1_description/g1_29dof_with_hand.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->
@ -484,7 +484,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -513,7 +513,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->

12
robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->
@ -484,7 +484,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -513,7 +513,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->

8
robots/g1_description/g1_comp.urdf
View File

@ -197,7 +197,7 @@
<parent link="left_knee_link"/>
<child link="left_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="left_ankle_roll_link">
<inertial>
@ -244,7 +244,7 @@
<parent link="left_ankle_pitch_link"/>
<child link="left_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<link name="right_hip_pitch_link">
<inertial>
@ -389,7 +389,7 @@
<parent link="right_knee_link"/>
<child link="right_ankle_pitch_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
<limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
</joint>
<link name="right_ankle_roll_link">
<inertial>
@ -436,7 +436,7 @@
<parent link="right_ankle_pitch_link"/>
<child link="right_ankle_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
<limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
</joint>
<!-- Torso -->

4
robots/g1_description/g1_dual_arm.urdf
View File

@ -48,7 +48,7 @@
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<link name="torso_link">
<inertial>
@ -77,7 +77,7 @@
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
<limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
</joint>
<!-- LOGO -->