From d5da40027015bae1ae0cb8f233d7a543aaab67ec Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 14 Aug 2021 17:02:13 +0200
Subject: [PATCH] replace id 12 with xm540-w270

fix joint limit velocity
---
 urdf/open_manipulator.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 -->
-- 
2.39.5