From d0cb67e008114b705a17fc1db69058b8552d53a9 Mon Sep 17 00:00:00 2001
From: hofee <lexhofee@gmail.com>
Date: Thu, 11 Dec 2025 17:09:08 +0800
Subject: [PATCH] update lock joints in yaml and velocity in urdf

---
 .../franka_robotiq_2f85.urdf                         | 12 ++++++------
 .../content/configs/robot/franka_robotiq2f85.yml     |  4 +---
 2 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/src/curobo/content/assets/robot/franka_robotiq_2f85_zedmini/franka_robotiq_2f85.urdf b/src/curobo/content/assets/robot/franka_robotiq_2f85_zedmini/franka_robotiq_2f85.urdf
index ffb0957..ad6e2bd 100644
--- a/src/curobo/content/assets/robot/franka_robotiq_2f85_zedmini/franka_robotiq_2f85.urdf
+++ b/src/curobo/content/assets/robot/franka_robotiq_2f85_zedmini/franka_robotiq_2f85.urdf
@@ -470,14 +470,14 @@
     <child link="robotiq_85_left_knuckle_link"/>
     <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452"/>
-    <limit effort="50" lower="-1" upper="1" velocity="0.5"/>
+    <limit effort="50" lower="-1" upper="1" velocity="100"/>
   </joint>
   <joint name="robotiq_85_right_knuckle_joint" type="revolute">
     <parent link="robotiq_85_base_link"/>
     <child link="robotiq_85_right_knuckle_link"/>
     <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452"/>
-    <limit effort="50" lower="-1" upper="1" velocity="0.5"/>
+    <limit effort="50" lower="-1" upper="1" velocity="100"/>
   </joint>
   <joint name="robotiq_85_left_finger_joint" type="fixed">
     <parent link="robotiq_85_left_knuckle_link"/>
@@ -494,7 +494,7 @@
     <child link="robotiq_85_left_inner_knuckle_link"/>
     <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="0.0127 0.0 0.06142"/>
-    <limit effort="50" lower="-1" upper="1" velocity="0.5"/>
+    <limit effort="50" lower="-1" upper="1" velocity="100"/>
     
   </joint>
   <joint name="robotiq_85_right_inner_knuckle_joint" type="revolute">
@@ -502,21 +502,21 @@
     <child link="robotiq_85_right_inner_knuckle_link"/>
     <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142"/>
-    <limit effort="50" lower="-1" upper="1" velocity="0.5"/>
+    <limit effort="50" lower="-1" upper="1" velocity="100"/>
   </joint>
   <joint name="robotiq_85_left_finger_tip_joint" type="revolute">
     <parent link="robotiq_85_left_finger_link"/>
     <child link="robotiq_85_left_finger_tip_link"/>
     <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515"/>
-    <limit effort="50" lower="-1" upper="1" velocity="0.5"/>
+    <limit effort="50" lower="-1" upper="1" velocity="100"/>
   </joint>
   <joint name="robotiq_85_right_finger_tip_joint" type="revolute">
     <parent link="robotiq_85_right_finger_link"/>
     <child link="robotiq_85_right_finger_tip_link"/>
     <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515"/>
-    <limit effort="50" lower="-1" upper="1" velocity="0.5"/>
+    <limit effort="50" lower="-1" upper="1" velocity="100"/>
   </joint>
   
   <link name="gripper_center"/>
diff --git a/src/curobo/content/configs/robot/franka_robotiq2f85.yml b/src/curobo/content/configs/robot/franka_robotiq2f85.yml
index 5ccc4fd..780cc3f 100644
--- a/src/curobo/content/configs/robot/franka_robotiq2f85.yml
+++ b/src/curobo/content/configs/robot/franka_robotiq2f85.yml
@@ -294,9 +294,7 @@ robot_cfg:
          "joint_name": "attach_joint"}
       } # TODO
     lock_joints: {
-          "robotiq_85_left_knuckle_joint":0, "robotiq_85_right_knuckle_joint": 0,
-          "robotiq_85_left_inner_knuckle_joint": 0,"robotiq_85_right_inner_knuckle_joint":0,
-          "robotiq_85_left_finger_tip_joint":0,"robotiq_85_right_finger_tip_joint":0,
+          "robotiq_85_left_knuckle_joint":0
     }
 
     cspace: