added pick_and_place.py

[arm_ros_conn.git] / urdf / arm.urdf

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 9e5c80f668266fc14cd4a4a0ed5d6f9201344dc1..e59c6e2974aaad369aa656cc2e38c3a015e0d1b5 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -131,7 +131,7 @@ For IKFast:
                <parent link="arm_base"/>
                <child link="link1"/>
                <axis xyz="0 0 -1"/>
-               <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.1"/>
+               <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
        </joint>
 
        <joint name="link2_joint" type="revolute">
@@ -147,7 +147,7 @@ For IKFast:
                <child link="link3"/>
                <axis xyz="0 0 -1"/>
                <origin xyz="0.240 0 0" rpy="0 0 0"/>
-               <limit effort="1.0" lower="0" upper="3.1416" velocity="0.1"/>
+               <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
        </joint>
 
        <joint name="link4_joint" type="revolute">
@@ -155,7 +155,7 @@ For IKFast:
                <child link="link4"/>
                <axis xyz="0 0 -1"/>
                <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
-               <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.1"/>
+               <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
        </joint>
 
        <joint name="link5_joint" type="revolute">
@@ -163,7 +163,7 @@ For IKFast:
                <child link="link5"/>
                <axis xyz="0 0 1"/>
                <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
-               <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.1"/>
+               <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
        </joint>
 
        <joint name="gripper_pole_joint" type="fixed">