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Convert the RobStride no-load speeds from rpm correctly #21

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Merged
T-K-233 merged 2 commits into from
Oct 2, 2026
Merged

Convert the RobStride no-load speeds from rpm correctly #21

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d603ea4
Convert the RobStride no-load speeds from rpm correctly
T-K-233 Oct 2, 2026
015d088
Write the RobStride no-load speeds as rad/s literals
T-K-233 Oct 2, 2026
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14 changes: 7 additions & 7 deletions lite_description/actuators/robstride.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@

# https://robstride.com/products/robStride00
ROBSTRIDE_00_ACTUATOR_PARAMS = {
"velocity_limit" : 32.987, # rad/s
"velocity_limit" : 32.99, # rad/s, 315 rpm no-load
"effort_limit" : 14.0, # Nm
"armature" : 0.002, # kgm^2
"friction_loss" : 0.1, # Nm
Expand All @@ -11,7 +11,7 @@

# https://robstride.com/products/robStride01
ROBSTRIDE_01_ACTUATOR_PARAMS = {
"velocity_limit" : 50.13, # rad/s
"velocity_limit" : 32.99, # rad/s, 315 rpm no-load
"effort_limit" : 17.0, # Nm
"armature" : 0.005, # kgm^2
"friction_loss" : 0.1, # Nm
Expand All @@ -21,7 +21,7 @@

# https://robstride.com/products/robStride02
ROBSTRIDE_02_ACTUATOR_PARAMS = {
"velocity_limit" : 65.25, # rad/s
"velocity_limit" : 42.94, # rad/s, 410 rpm no-load
"effort_limit" : 17.0, # Nm
"armature" : 0.005, # kgm^2
"friction_loss" : 0.1, # Nm
Expand All @@ -31,7 +31,7 @@

# https://robstride.com/products/robStride03
ROBSTRIDE_03_ACTUATOR_PARAMS = {
"velocity_limit" : 31.83, # rad/s
"velocity_limit" : 20.94, # rad/s, 200 rpm no-load
"effort_limit" : 60.0, # Nm
"armature" : 0.01, # kgm^2
"friction_loss" : 0.1, # Nm
Expand All @@ -41,7 +41,7 @@

# https://robstride.com/products/robStride04
ROBSTRIDE_04_ACTUATOR_PARAMS = {
"velocity_limit" : 31.83, # rad/s
"velocity_limit" : 20.94, # rad/s, 200 rpm no-load
"effort_limit" : 120.0, # Nm
"armature" : 0.016, # kgm^2
"friction_loss" : 0.1, # Nm
Expand All @@ -51,7 +51,7 @@

# https://robstride.com/products/robStride05
ROBSTRIDE_05_ACTUATOR_PARAMS = {
"velocity_limit" : 76.39, # rad/s
"velocity_limit" : 50.27, # rad/s, 480 rpm no-load
"effort_limit" : 5.5, # Nm
"armature" : 0.001, # kgm^2
"friction_loss" : 0.1, # Nm
Expand All @@ -61,7 +61,7 @@

# https://robstride.com/products/robStride06
ROBSTRIDE_06_ACTUATOR_PARAMS = {
"velocity_limit" : 76.39, # rad/s
"velocity_limit" : 50.27, # rad/s, 480 rpm no-load
"effort_limit" : 36.0, # Nm
"armature" : 0.008, # kgm^2
"friction_loss" : 0.1, # Nm
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