higher velocity works with tgs engine

kscalelabs · Jul 26, 2024 · cc0dc21 · cc0dc21
1 parent 2aee560
commit cc0dc21
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Showing 3 changed files with 79 additions and 61 deletions.
diff --git a/sim/humanoid_gym/envs/stompy_config.py b/sim/humanoid_gym/envs/stompy_config.py
@@ -72,7 +72,7 @@ class terrain(LeggedRobotCfg.terrain):
         restitution = 0.0
 
     class noise:
-        add_noise = True
+        add_noise = False
         noise_level = 0.6  # scales other values
 
         class noise_scales:
@@ -108,11 +108,11 @@ class sim(LeggedRobotCfg.sim):
 
         class physx(LeggedRobotCfg.sim.physx):
             num_threads = 12
-            solver_type = 0 # 0: pgs, 1: tgs
+            solver_type = 1 # 0: pgs, 1: tgs
             num_position_iterations = 4
             num_velocity_iterations = 1
             contact_offset = 0.01  # [m]
-            rest_offset =-0.02  # [m]
+            rest_offset = 0.0  # [m]
             bounce_threshold_velocity = 0.1  # [m/s]
             max_depenetration_velocity = 1.0
             max_gpu_contact_pairs = 2**23  # 2**24 -> needed for 8000 envs and more
@@ -124,7 +124,7 @@ class domain_rand:
         randomize_friction = True
         friction_range = [0.1, 2.0]
 
-        randomize_base_mass = True
+        randomize_base_mass = False
         added_mass_range = [-1.0, 1.0]
         push_robots = False
         push_interval_s = 4

diff --git a/sim/stompy/joints.py b/sim/stompy/joints.py
@@ -275,14 +275,14 @@ def stiffness(cls) -> Dict[str, float]:
             "knee pitch": 150,
             "ankle pitch": 45,
             "ankle roll": 45,
-            "shoulder pitch": 0,
-            "shoulder yaw": 0,
-            "shoulder roll": 0,
-            "elbow pitch": 0,
-            "wrist roll": 0,
-            "wrist pitch": 0,
-            "wrist yaw": 0,
-            "torso roll": 0,
+            "shoulder pitch": 1,
+            "shoulder yaw": 1,
+            "shoulder roll": 1,
+            "elbow pitch": 1,
+            "wrist roll": 1,
+            "wrist pitch": 1,
+            "wrist yaw": 1,
+            "torso roll": 1,
         }
 
     # d_gains
@@ -295,14 +295,15 @@ def damping(cls) -> Dict[str, float]:
             "knee pitch": 10,
             "ankle pitch": 10,
             "ankle roll": 10,
-            "shoulder pitch": 0,
-            "shoulder yaw": 0,
-            "shoulder roll": 0,
-            "elbow pitch": 0,
-            "wrist roll": 0,
-            "wrist pitch": 0,
-            "wrist yaw": 0,
-            "torso roll": 0,
+
+            "shoulder pitch": 1,
+            "shoulder yaw": 1,
+            "shoulder roll": 1,
+            "elbow pitch": 1,
+            "wrist roll": 1,
+            "wrist pitch": 1,
+            "wrist yaw": 1,
+            "torso roll": 1,
         }
 
     # pos_limits
@@ -328,23 +329,40 @@ def effort(cls) -> Dict[str, float]:
     # vel_limits
     @classmethod
     def velocity(cls) -> Dict[str, float]:
+        # return {
+        #     "hip pitch": 40,
+        #     "hip yaw": 40,
+        #     "hip roll": 40,
+        #     "knee pitch": 40,
+        #     "ankle pitch": 40,
+        #     "ankle roll": 40,
+        #     "shoulder pitch": 40,
+        #     "shoulder yaw": 40,
+        #     "shoulder roll": 40,
+        #     "elbow pitch": 40,
+        #     "wrist roll": 40,
+        #     "wrist pitch": 40,
+        #     "wrist yaw": 40,
+        #     "torso roll": 40,
+        # }
         return {
-            "hip pitch": 40,
-            "hip yaw": 40,
-            "hip roll": 40,
-            "knee pitch": 40,
-            "ankle pitch": 24,
-            "ankle roll": 24,
-            "shoulder pitch": 12,
-            "shoulder yaw": 12,
-            "shoulder roll": 12,
-            "elbow pitch": 12,
-            "wrist roll": 12,
-            "wrist pitch": 12,
-            "wrist yaw": 12,
-            "torso roll": 12,
+            "hip pitch": 150,
+            "hip yaw": 150,
+            "hip roll": 150,
+            "knee pitch": 150,
+            "ankle pitch": 150,
+            "ankle roll": 150,
+            "shoulder pitch": 150,
+            "shoulder yaw": 150,
+            "shoulder roll": 150,
+            "elbow pitch": 150,
+            "wrist roll": 150,
+            "wrist pitch": 150,
+            "wrist yaw": 150,
+            "torso roll": 150,
         }
 
+
     @classmethod
     def friction(cls) -> Dict[str, float]:
         return {

diff --git a/sim/stompy/robot_fixed.urdf b/sim/stompy/robot_fixed.urdf
@@ -479,7 +479,7 @@
     <origin xyz="0.018560146 0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x8_90_mock_1_outer_rmd_x8_90_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1" />
-    <limit effort="24" velocity="12" lower="-0.252" upper="-0.25" />
+    <limit effort="24" velocity="150" lower="-0.252" upper="-0.25" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1">
@@ -508,7 +508,7 @@
     <origin xyz="0.018560146 0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x8_90_mock_1_outer_rmd_x8_90_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1" />
-    <limit effort="24" velocity="12" lower="2.69" upper="2.701" />
+    <limit effort="24" velocity="150" lower="2.69" upper="2.701" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_torso_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1">
@@ -537,7 +537,7 @@
     <origin xyz="-0.018560146 0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_torso_1_rmd_x8_90_mock_1_outer_rmd_x8_90_1" />
     <child link="link_upper_limb_assembly_7_dof_1_torso_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1" />
-    <limit effort="150" velocity="12" lower="-0.503" upper="-0.501" />
+    <limit effort="150" velocity="150" lower="-0.503" upper="-0.501" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_head_1_head_front_1">
@@ -863,7 +863,7 @@
     <origin xyz="0.018560146 0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1" />
-    <limit effort="24" velocity="12" lower="1.819" upper="1.821" />
+    <limit effort="24" velocity="150" lower="1.819" upper="1.821" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1">
@@ -892,7 +892,7 @@
     <origin xyz="0.018560146 0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1" />
-    <limit effort="24" velocity="12" lower="-1.83" upper="-1.819" />
+    <limit effort="24" velocity="150" lower="-1.83" upper="-1.819" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_part_1_1">
@@ -975,7 +975,7 @@
     <origin xyz="-0.0071596999 -0.057556396 0.0245" rpy="3.1415927 0 -1.5707963" />
     <parent link="link_lower_limbs_1_leg_assembly_right_1_rmd_x12_150_mock_1_outer_x12_150_1" />
     <child link="link_lower_limbs_1_leg_assembly_right_1_rmd_x12_150_mock_1_inner_x12_150_1" />
-    <limit effort="150" velocity="40" lower="-0.498" upper="1.502" />
+    <limit effort="150" velocity="150" lower="-0.498" upper="1.502" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_arm_part_4_1">
@@ -1058,7 +1058,7 @@
     <origin xyz="-0.0071596999 -0.057556396 0.0245" rpy="3.1415927 0 -1.5707963" />
     <parent link="link_lower_limbs_1_leg_assembly_left_1_rmd_x12_150_mock_1_outer_x12_150_1" />
     <child link="link_lower_limbs_1_leg_assembly_left_1_rmd_x12_150_mock_1_inner_x12_150_1" />
-    <limit effort="150" velocity="40" lower="0.13" upper="2.13" />
+    <limit effort="150" velocity="150" lower="0.13" upper="2.13" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_leg_assembly_right_1_leg_part_2_right_1">
@@ -1357,7 +1357,7 @@
     <origin xyz="0.018560146 0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_right_1_rmd_x8_90_mock_1_outer_rmd_x8_90_1" />
     <child link="link_lower_limbs_1_leg_assembly_right_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1" />
-    <limit effort="90" velocity="40" lower="-3.07" upper="-1.07" />
+    <limit effort="90" velocity="150" lower="-3.07" upper="-1.07" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1">
@@ -1386,7 +1386,7 @@
     <origin xyz="0 0 -0.025" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="-1.45" upper="-1.439" />
+    <limit effort="24" velocity="150" lower="-1.45" upper="-1.439" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1">
@@ -1415,7 +1415,7 @@
     <origin xyz="0 0 -0.025" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="-2.58" upper="-2.569" />
+    <limit effort="24" velocity="150" lower="-2.58" upper="-2.569" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1">
@@ -1444,7 +1444,7 @@
     <origin xyz="0.018560146 -0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_1_outer_rmd_x8_90_1" />
     <child link="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1" />
-    <limit effort="90" velocity="40" lower="0.07" upper="2.07" />
+    <limit effort="90" velocity="150" lower="0.07" upper="2.07" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_leg_assembly_right_1_leg_part_3_1">
@@ -1797,7 +1797,7 @@
     <origin xyz="-0.044808157 0.018560146 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_right_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1" />
     <child link="link_lower_limbs_1_leg_assembly_right_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1" />
-    <limit effort="90" velocity="40" lower="-2.57" upper="-0.57" />
+    <limit effort="90" velocity="150" lower="-2.57" upper="-0.57" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x4_24_mock_2_inner_rmd_x4_24_1">
@@ -1826,7 +1826,7 @@
     <origin xyz="0.01225 0.021217622 -0.02" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x4_24_mock_2_outer_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_upper_left_arm_1_rmd_x4_24_mock_2_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="2.06" upper="2.071" />
+    <limit effort="24" velocity="150" lower="2.06" upper="2.071" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x4_24_mock_2_inner_rmd_x4_24_1">
@@ -1855,7 +1855,7 @@
     <origin xyz="0.01225 0.021217622 -0.02" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x4_24_mock_2_outer_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x4_24_mock_2_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="-2.58" upper="-2.569" />
+    <limit effort="24" velocity="150" lower="-2.58" upper="-2.569" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1">
@@ -1884,7 +1884,7 @@
     <origin xyz="-0.044808157 0.018560146 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1" />
     <child link="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1" />
-    <limit effort="90" velocity="40" lower="-1" upper="1" />
+    <limit effort="90" velocity="150" lower="-1" upper="1" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_leg_assembly_right_1_leg_part_5_right_2">
@@ -2183,7 +2183,7 @@
     <origin xyz="-0.018560146 -0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_right_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1" />
     <child link="link_lower_limbs_1_leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1" />
-    <limit effort="90" velocity="40" lower="2.39" upper="4.39" />
+    <limit effort="90" velocity="150" lower="2.39" upper="4.39" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1">
@@ -2266,7 +2266,7 @@
     <origin xyz="-0.018560146 0.044808157 -0.0475" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1" />
     <child link="link_lower_limbs_1_leg_assembly_left_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1" />
-    <limit effort="90" velocity="40" lower="-0.121" upper="1.879" />
+    <limit effort="90" velocity="150" lower="-0.121" upper="1.879" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_leg_assembly_right_1_leg_part_6_2">
@@ -2322,7 +2322,7 @@
     <origin xyz="0 0 -0.025" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="-2.512" upper="-2.509" />
+    <limit effort="24" velocity="150" lower="-2.512" upper="-2.509" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1">
@@ -2351,7 +2351,7 @@
     <origin xyz="0 0 -0.025" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="-0.01" upper="0.001" />
+    <limit effort="24" velocity="150" lower="-0.01" upper="0.001" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_leg_assembly_left_1_leg_part_6_2">
@@ -2569,7 +2569,7 @@
     <origin xyz="-0.012380881 -0.0039640631 -0.025" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_right_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
     <child link="link_lower_limbs_1_leg_assembly_right_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
-    <limit effort="24" velocity="24" lower="0" upper="2" />
+    <limit effort="24" velocity="150" lower="0" upper="2" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_2_outer_rmd_x4_24_1">
@@ -2652,7 +2652,7 @@
     <origin xyz="-0.012380881 -0.0039640631 -0.025" rpy="3.1415927 0 0" />
     <parent link="link_lower_limbs_1_leg_assembly_left_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
     <child link="link_lower_limbs_1_leg_assembly_left_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
-    <limit effort="24" velocity="24" lower="-1.502" upper="0.498" />
+    <limit effort="24" velocity="150" lower="-1.502" upper="0.498" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_right_foot_1_ankle_half_2_right_2">
@@ -2708,7 +2708,7 @@
     <origin xyz="0.0245 0 -0.02" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_2_outer_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_2_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="3.32" upper="3.331" />
+    <limit effort="24" velocity="150" lower="3.32" upper="3.331" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_2_inner_rmd_x4_24_1">
@@ -2737,7 +2737,7 @@
     <origin xyz="0.0245 0 -0.02" rpy="3.1415927 0 0" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_2_outer_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_2_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="0.25" upper="0.252" />
+    <limit effort="24" velocity="150" lower="0.25" upper="0.252" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_left_foot_1_ankle_half_2_left_1">
@@ -2955,7 +2955,7 @@
     <origin xyz="0 -0.0245 0.02" rpy="0 0 1.5707963" />
     <parent link="link_lower_limbs_1_right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
     <child link="link_lower_limbs_1_right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="24" lower="0.76" upper="2.76" />
+    <limit effort="24" velocity="150" lower="0.76" upper="2.76" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_3_outer_rmd_x4_24_1">
@@ -3038,7 +3038,7 @@
     <origin xyz="0 0.0245 0.02" rpy="0 0 -1.5707963" />
     <parent link="link_lower_limbs_1_left_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" />
     <child link="link_lower_limbs_1_left_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="24" lower="0.76" upper="2.76" />
+    <limit effort="24" velocity="150" lower="0.76" upper="2.76" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_right_foot_1_foot_1">
@@ -3094,7 +3094,7 @@
     <origin xyz="0 -0.0245 0.02" rpy="0 0 1.5707963" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_3_outer_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_3_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="0.062" upper="0.0638" />
+    <limit effort="24" velocity="150" lower="0.062" upper="0.0638" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_3_inner_rmd_x4_24_1">
@@ -3123,7 +3123,7 @@
     <origin xyz="0 -0.0245 0.02" rpy="0 0 1.5707963" />
     <parent link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_3_outer_rmd_x4_24_1" />
     <child link="link_upper_limb_assembly_7_dof_1_full_arm_7_dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_3_inner_rmd_x4_24_1" />
-    <limit effort="24" velocity="12" lower="1.37" upper="1.381" />
+    <limit effort="24" velocity="150" lower="1.37" upper="1.381" />
     <axis xyz="0 0 -1" />
     </joint>
   <link name="link_lower_limbs_1_left_foot_1_foot_1">