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bdaiinstitute / spot_ros2

ROS 2 driver package for Boston Dynamics' Spot
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[N/A] update velocity limits in URDF with more accurate values #459

Closed khughes-bdai closed 3 months ago

khughes-bdai commented 3 months ago

Change Overview

Updates velocity limits in URDF following this response from BD support:

"Regarding the maximum velocity limits, unfortunately we do not have any hard numbers on this. For the hip joints we use an internal value of 900/51 rad/s as a limit for jointspace planning. The knee is more complex due to the variable transmission, but an average value of 900/75 rad/s is a reasonable value. For the arm we use a value of 10 rad/s for jointspace planning. Note: these are not no-load speeds, but software limits."

Testing Done

N/A

khughes-bdai commented 3 months ago

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coveralls commented 3 months ago

Pull Request Test Coverage Report for Build 10561138932

Details

Totals Coverage Status
Change from base Build 10561096005: 0.0%
Covered Lines: 1910
Relevant Lines: 3730
💛 - Coveralls
khughes-bdai commented 3 months ago

Merge activity