update joint velocity limits

universal_robot_description/urdf/robot.urdf.xacro

@@ -53,7 +53,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "shoulder_link" />
     <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 0.0 1.0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
   
@@ -82,7 +82,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "upper_arm_link" />
     <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />    
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -111,7 +111,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "forearm_link" />
     <origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -140,7 +140,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "wrist_1_link" />
     <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -169,7 +169,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "wrist_2_link" />
     <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 0.0 1.0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -198,7 +198,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "wrist_3_link" />
     <origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>