GR-3 参数
关节限位
根据GR-3正式版URDF文件提取出的关节限位。
| 序号 | 序号关节名称 | 控制组名称 | 位置上限 (rad) | 位置下限 (rad) | 速度上限 (rad/s) | 扭矩上限 (Nm) |
|---|---|---|---|---|---|---|
| 0 | left_hip_pitch_joint | left_leg | 2.618 | -2.618 | 6.49 | 366.0 |
| 1 | left_hip_roll_joint | left_leg | 1.5708 | -0.17453 | 12.985 | 140.4 |
| 2 | left_hip_yaw_joint | left_leg | 1.5708 | -0.69813 | 12.985 | 140.4 |
| 3 | left_knee_pitch_joint | left_leg | 2.3562 | 0.0 | 6.49 | 366.0 |
| 4 | left_ankle_pitch_joint | left_leg | 0.7854 | -0.7854 | 16.76 | 59.4 |
| 5 | left_ankle_roll_joint | left_leg | 0.43633 | -0.43633 | 16.76 | 59.4 |
| 6 | right_hip_pitch_joint | right_leg | 2.618 | -2.618 | 6.49 | 366.0 |
| 7 | right_hip_roll_joint | right_leg | 0.17453 | -1.5708 | 12.985 | 140.4 |
| 8 | right_hip_yaw_joint | right_leg | 0.69813 | -1.5708 | 12.985 | 140.4 |
| 9 | right_knee_pitch_joint | right_leg | 2.3562 | 0.0 | 6.49 | 366.0 |
| 10 | right_ankle_pitch_joint | right_leg | 0.7854 | -0.7854 | 16.76 | 59.4 |
| 11 | right_ankle_roll_joint | right_leg | 0.43633 | -0.43633 | 16.76 | 59.4 |
| 12 | waist_yaw_joint | waist | 2.618 | -2.618 | 12.985 | 140.4 |
| 13 | waist_roll_joint | waist | 0.17453 | -0.17453 | 14.77 | 108.6 |
| 14 | waist_pitch_joint | waist | 0.5236 | -0.20944 | 14.77 | 108.6 |
| 15 | head_yaw_joint | head | 1.3963 | -1.3963 | 9.21 | 17.4 |
| 16 | head_pitch_joint | head | 0.5236 | -0.5236 | 9.21 | 17.4 |
| 17 | left_shoulder_pitch_joint | left_manipulator | 2.9671 | -2.9671 | 7.75 | 74.4 |
| 18 | left_shoulder_roll_joint | left_manipulator | 1.9199 | -0.2618 | 7.75 | 74.4 |
| 19 | left_shoulder_yaw_joint | left_manipulator | 1.8326 | -1.8326 | 6.28 | 42.9 |
| 20 | left_elbow_pitch_joint | left_manipulator | 0.087266 | -2.2689 | 6.28 | 42.9 |
| 21 | left_wrist_yaw_joint | left_manipulator | 1.8326 | -1.8326 | 6.28 | 42.9 |
| 22 | left_wrist_pitch_joint | left_manipulator | 1.309 | -0.87266 | 9.2153 | 17.4 |
| 23 | left_wrist_roll_joint | left_manipulator | 1.2217 | -1.0472 | 9.2153 | 17.4 |
| 24 | right_shoulder_pitch_joint | right_manipulator | 2.9671 | -2.9671 | 7.75 | 74.4 |
| 25 | right_shoulder_roll_joint | right_manipulator | 0.2618 | -1.9199 | 7.75 | 74.4 |
| 26 | right_shoulder_yaw_joint | right_manipulator | 1.8326 | -1.8326 | 6.28 | 42.9 |
| 27 | right_elbow_pitch_joint | right_manipulator | 0.087266 | -2.2689 | 6.28 | 42.9 |
| 28 | right_wrist_yaw_joint | right_manipulator | 1.8326 | -1.8326 | 6.28 | 42.9 |
| 29 | right_wrist_pitch_joint | right_manipulator | 1.309 | -0.87266 | 9.2153 | 17.4 |
| 30 | right_wrist_roll_joint | right_manipulator | 1.0472 | -1.2217 | 9.2153 | 17.4 |