From 79f054ec271398fe5cf560a9f48d2dc7864b5bc7 Mon Sep 17 00:00:00 2001
From: BDLUO <luobd1997@163.com>
Date: Wed, 11 Oct 2023 11:33:45 +0800
Subject: [PATCH] modify knee joint info in go2's urdf

---
 robots/go2_description/urdf/go2_description.urdf | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/robots/go2_description/urdf/go2_description.urdf b/robots/go2_description/urdf/go2_description.urdf
index ea5e26a..9ada169 100644
--- a/robots/go2_description/urdf/go2_description.urdf
+++ b/robots/go2_description/urdf/go2_description.urdf
@@ -280,8 +280,8 @@ Stephen Brawner (brawner@gmail.com)
     <limit
       lower="-2.7227"
       upper="-0.83776"
-      effort="35.55"
-      velocity="20.07" />
+      effort="45.43"
+      velocity="15.70" />
   </joint>
   <link
     name="FL_calflower">
@@ -539,8 +539,8 @@ Stephen Brawner (brawner@gmail.com)
     <limit
       lower="-2.7227"
       upper="-0.83776"
-      effort="35.55"
-      velocity="20.07" />
+      effort="45.43"
+      velocity="15.70" />
   </joint>
   <link
     name="FR_calflower">
@@ -798,8 +798,8 @@ Stephen Brawner (brawner@gmail.com)
     <limit
       lower="-2.7227"
       upper="-0.83776"
-      effort="35.55"
-      velocity="20.07" />
+      effort="45.43"
+      velocity="15.70" />
   </joint>
   <link
     name="RL_calflower">
@@ -1057,8 +1057,8 @@ Stephen Brawner (brawner@gmail.com)
     <limit
       lower="-2.7227"
       upper="-0.83776"
-      effort="35.55"
-      velocity="20.07" />
+      effort="45.43"
+      velocity="15.70" />
   </joint>
   <link
     name="RR_calflower">