From: Erik Andresen <erik@vontaene.de>
Date: Sat, 14 Aug 2021 15:02:13 +0000 (+0200)
Subject: replace id 12 with xm540-w270
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=d5da40027015bae1ae0cb8f233d7a543aaab67ec;p=wt_open_manipulator.git

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 53af13a..bbc923d 100644
--- 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 -->