[BUG]: Incorrect joint limits set

[evan-palmer]

Issue Description

The joint limits set in the MoveIt2 joint_limits.yaml and alpha.urdf.xacro are incorrectly set. They should be set according to the Reach Alpha datasheet.

Steps to Reproduce

This error exists regardless of steps taken.

Expected Behavior

The joint limits should be set as follows:

• Joint A: 3 mm/s
• Joint B: 50 degrees/s
• Joint C: 30 degrees/s
• Joint D: 30 degrees/s
• Joint E: 30 degrees/s

Error Message

No response

Runtime Environment

This error exists regardless of the runtime environment

Additional Context

The related documentation can be found here. The specific document is the Reach Alpha Integration Manual.

[evan-palmer]

Per a discussion with @hkolano, it will be necessary to update the MoveIt2 RViz2 configuration to increase the joint limits there. The original reason that I set the joint limits higher than the rating was because MoveIt2 was throttling the velocity of the manipulator. I was unaware that MoveIt2 was throttling the velocity and that the throttling factor is configurable. It would be good to adjust that configuration file within the scope of this issue as well.