replace id 12 with xm540-w270

fix joint limit velocity

diff --git a/urdf/open_manipulator.urdf.xacro b/urdf/open_manipulator.urdf.xacro
index 53af13aa402e3e677c057317e4b53137a9524bb3..bbc923d1da4647757a1e925a8d0eeb59d8511473 100644 (file)
--- a/urdf/open_manipulator.urdf.xacro
+++ b/urdf/open_manipulator.urdf.xacro
@@ -71,7 +71,7 @@
          <child link="link2"/>
          <origin xyz="0.012 0.0 0.036" rpy="0 0 0"/> <!-- Height servo+horn -->
          <axis xyz="0 0 1"/>
-         <limit velocity="4.8" effort="1" lower="${-pi}" upper="${pi}" />
+         <limit velocity="3.1" effort="1" lower="${-pi}" upper="${pi}" />
   </joint>
 
   <!-- Transmission 1 -->