X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=urdf%2Farm.urdf;h=e59c6e2974aaad369aa656cc2e38c3a015e0d1b5;hp=9e5c80f668266fc14cd4a4a0ed5d6f9201344dc1;hb=427a9790c483e9a4e0d137c7ddd553edc7f24b9e;hpb=f1377859f0f079704e66d47696e2f04d585cb693

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 9e5c80f..e59c6e2 100644
--- 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">