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The Onshape export leaves every velocity limit at 100 rad/s, so consumers of the URDF saw no speed limit. Each joint_properties.json now gives the no-load speed of the joint's motor, and the urdf stage writes it. Joints without a motor table (the fingers and the lite_dummy neck) keep the exported value. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016P11EHtuJN1dxWFsk5BY9h
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November 4, 2026 13:01
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The Onshape export leaves every URDF velocity limit at 100 rad/s. Each
joint_properties.jsonnow gives the no-load speed of the joint's motor (fromlite_description/actuators/), and the urdf stage writes it. Lite Pro's body joints get 4.19 to 50.27 rad/s.The finger joints and the lite_dummy neck have no motor table, so they keep 100. The MJCF does not change: MuJoCo has no joint velocity limit.
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https://claude.ai/code/session_016P11EHtuJN1dxWFsk5BY9h