Values in joint_limits.yaml for MoveIT

[matthias-mayr]

The file joint_limits.yaml defines velocity limits for MoveIT:

joint_limits:
  iiwa_joint_1:
    has_velocity_limits: true
    max_velocity: 10
    has_acceleration_limits: false
    max_acceleration: 0

Shouldn't those limits be the same ones that are imposed by the real robot? So for example a max_velocity of 1.7104 for the first joint for an iiwa7?

[matthias-mayr]

That would also be relevant for https://github.com/IFL-CAMP/iiwa_stack/pull/205 since the comments in joint_limits.yaml say:

joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed