From 8523966dadaf47e42d040bb0e1dee91869c1d6ff Mon Sep 17 00:00:00 2001
From: Iori Yanokura <ab.ioryz@gmail.com>
Date: Tue, 16 Jan 2024 21:18:15 +0900
Subject: [PATCH] limit velocity

---
 ros/kxr_models/urdf/kxr_test_head.urdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ros/kxr_models/urdf/kxr_test_head.urdf b/ros/kxr_models/urdf/kxr_test_head.urdf
index 680428d5..7ff7b461 100644
--- a/ros/kxr_models/urdf/kxr_test_head.urdf
+++ b/ros/kxr_models/urdf/kxr_test_head.urdf
@@ -71,7 +71,7 @@
     <child  link="HEAD_LINK1"/>
     <origin xyz="0 0 0.036" rpy="0 -0 0 "/>
     <axis   xyz="0 -1 0"/>
-    <limit lower="-2.0944" upper="2.0944" effort="0.656248" velocity="7.47998" />
+    <limit lower="-2.0944" upper="2.0944" effort="0.656248" velocity="0.5" />
     <dynamics damping="0.2" friction="0" />
   </joint>
 </robot>