Joint velocity limits for SOLO 12


I am trying to determine the joint velocity limits for SOLO 12. I have looked into the URDF files of the repository robot_properties_solo, and the leg.xacro file indicates a velocity limit of 1000, but this is just for simulation.

Does anyone know the joint velocity limits?

Thank you!


For testing we drive the motors up to 5800rpm.
Because of the 9:1 gear reduction that corresponds to a joint output velocity of about 640rpm.

Best. Felix

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