Joint velocity limits for SOLO 12

Software
1

Hi!

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!

2

Hi!

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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