Fourier N-1 Robot Specs

Joint Limits

Joint Limits extracted from the original Fourier N-1 urdf file.

Index	Joint Name	Group Name	Upper Limit (rad)	Lower Limit (rad)	Velocity Limit (rad/s)	Torque Limit (Nm)
1	left_hip_pitch_joint	left_leg	2.617	-2.617	16.2	90
2	left_hip_roll_joint	left_leg	1.57	-0.261	14.738	54
3	left_hip_yaw_joint	left_leg	2.617	-2.617	14.738	54
4	left_knee_pitch_joint	left_leg	2.356	-0.0872	16.2	90
5	left_ankle_roll_joint	left_leg	0.436	-0.436	16.747	30
6	left_ankle_pitch_joint	left_leg	0.436	-0.436	16.747	30
7	right_hip_pitch_joint	right_leg	2.617	-2.617	16.2	90
8	right_hip_roll_joint	right_leg	0.261	-1.57	14.738	54
9	right_hip_yaw_joint	right_leg	2.617	-2.617	14.738	54
10	right_knee_pitch_joint	right_leg	2.356	-0.0872	16.2	90
11	right_ankle_roll_joint	right_leg	0.436	-0.436	16.747	30
12	right_ankle_pitch_joint	right_leg	0.436	-0.436	16.747	30
13	waist_yaw_joint	waist	2.617	-2.617	14.738	54
14	left_shoulder_pitch_joint	left_manipulator	2.966	-2.966	14.738	54
15	left_shoulder_roll_joint	left_manipulator	2.792	-0.174	16.747	30
16	left_shoulder_yaw_joint	left_manipulator	1.832	-1.832	16.747	30
17	left_elbow_pitch_joint	left_manipulator	1.658	-0.349	16.747	30
18	left_wrist_yaw_joint	left_manipulator	1.832	-1.832	16.747	30
19	right_shoulder_pitch_joint	right_manipulator	2.966	-2.966	14.738	54
20	right_shoulder_roll_joint	right_manipulator	0.174	-2.792	16.747	30
21	right_shoulder_yaw_joint	right_manipulator	1.832	-1.832	16.747	30
22	right_elbow_pitch_joint	right_manipulator	1.658	-0.349	16.747	30
23	right_wrist_yaw_joint	right_manipulator	1.832	-1.832	16.747	30