<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 -->