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

#ifndef _UNITREE_LEGGED_GO1_H_
#define _UNITREE_LEGGED_GO1_H_

namespace UNITREE_LEGGED_SDK {
constexpr double go1_Hip_max = 1.047;     // unit:radian ( = 60   degree)
constexpr double go1_Hip_min = -1.047;    // unit:radian ( = -60  degree)
constexpr double go1_Thigh_max = 2.966;   // unit:radian ( = 170  degree)
constexpr double go1_Thigh_min = -0.663;  // unit:radian ( = -38  degree)
constexpr double go1_Calf_max = -0.837;   // unit:radian ( = -48  degree)
constexpr double go1_Calf_min = -2.721;   // unit:radian ( = -156 degree)
}  // namespace UNITREE_LEGGED_SDK

#endif
