/**********************************************************************
 Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
***********************************************************************/

#ifndef _UNITREE_LEGGED_A1_H_
#define _UNITREE_LEGGED_A1_H_

namespace UNITREE_LEGGED_SDK {
constexpr double a1_Hip_max = 0.802;    // unit:radian ( = 46   degree)
constexpr double a1_Hip_min = -0.802;   // unit:radian ( = -46  degree)
constexpr double a1_Thigh_max = 4.19;   // unit:radian ( = 240  degree)
constexpr double a1_Thigh_min = -1.05;  // unit:radian ( = -60  degree)
constexpr double a1_Calf_max = -0.916;  // unit:radian ( = -52.5  degree)
constexpr double a1_Calf_min = -2.7;    // unit:radian ( = -154.5 degree)
}  // namespace UNITREE_LEGGED_SDK

#endif
