Whole-Body Joint Parameters

Range of motion, peak torque and inertia for all 31 joints. Peak speed is 20 rad/s for every joint. See “Joint Modules” for motor details.

Joint	Motor	Min (rad)	Max (rad)	Peak torque (N·m)	Inertia (kg·m²)
waist_y_joint	BXI7010-19 ×2	-0.5236	0.5236	90	0.0274702
waist_x_joint	BXI7010-19 ×2	-0.2618	0.2618	100	0.0412054
waist_z_joint	BXI8515-19	-2.8798	2.8798	150	0.044688
l_hip_y_joint	BXI8515-19	-2.8798	2.8798	150	0.044688
l_hip_x_joint	BXI8515-19	-0.48869	3.0543	150	0.044688
l_hip_z_joint	BXI7010-19	-2.8798	2.8798	45	0.0137351
l_knee_y_joint	BXI8515-19	-0.087266	2.618	150	0.044688
l_ankle_y_joint	BXI5018-19 ×2	-0.87266	0.7854	40	0.00848397
l_ankle_x_joint	BXI5018-19 ×2	-0.34907	0.34907	15	0.00551458
r_hip_y_joint	BXI8515-19	-2.8798	2.8798	150	0.044688
r_hip_x_joint	BXI8515-19	-3.0543	0.48869	150	0.044688
r_hip_z_joint	BXI7010-19	-2.8798	2.8798	45	0.0137351
r_knee_y_joint	BXI8515-19	-0.087266	2.618	150	0.044688
r_ankle_y_joint	BXI5018-19 ×2	-0.87266	0.7854	40	0.00848397
r_ankle_x_joint	BXI5018-19 ×2	-0.34907	0.34907	15	0.00551458
l_shoulder_y_joint	BXI7010-19	-2.8798	2.8798	45	0.0137351
l_shoulder_x_joint	BXI7010-19	-0.34907	3.0543	45	0.0137351
l_shoulder_z_joint	BXI5014-19	-2.8798	2.8798	21	0.00424198
l_elbow_y_joint	BXI7010-19	-0.95993	1.6581	45	0.0137351
l_wrist_x_joint	BXI5014-19	-2.8798	2.8798	21	0.00424198
l_wrist_y_joint	BXI5014-19	-1.309	1.309	21	0.00424198
l_wrist_z_joint	BXI5014-19	-0.7854	0.7854	21	0.00424198
r_shoulder_y_joint	BXI7010-19	-2.8798	2.8798	45	0.0137351
r_shoulder_x_joint	BXI7010-19	-3.0543	0.34907	45	0.0137351
r_shoulder_z_joint	BXI5014-19	-2.8798	2.8798	21	0.00424198
r_elbow_y_joint	BXI7010-19	-0.95993	1.6581	45	0.0137351
r_wrist_x_joint	BXI5014-19	-2.8798	2.8798	21	0.00424198
r_wrist_y_joint	BXI5014-19	-1.309	1.309	21	0.00424198
r_wrist_z_joint	BXI5014-19	-0.7854	0.7854	21	0.00424198
neck_z_joint	BXI5014-19	-1.57	1.57	21	0.00424198
neck_y_joint	BXI5014-19	-0.7854	0.7854	21	0.00424198