# Revision history [back]

### Atals controller isnores limits from URDF.

In the DRCSim 2.0, I have noticed that when sending position commands (to say for example the neck_ay joint), that the velocities reported by /atlas/joint_states are much higher than the velocity_limits defined in the URDF.

Can we expect this to be fixed for the VRC, or should we continue to assume that we can see velocity and/or effort values that exceed the URDF limits?

### Atals controller isnores ignores limits from URDF.

In the DRCSim 2.0, I have noticed that when sending position commands (to say for example the neck_ay joint), that the velocities reported by /atlas/joint_states are much higher than the velocity_limits defined in the URDF.

Can we expect this to be fixed for the VRC, or should we continue to assume that we can see velocity and/or effort values that exceed the URDF limits?

### Atals Atlas controller ignores limits from URDF.

In the DRCSim 2.0, I have noticed that when sending position commands (to say for example the neck_ay joint), that the velocities reported by /atlas/joint_states are much higher than the velocity_limits defined in the URDF.

Can we expect this to be fixed for the VRC, or should we continue to assume that we can see velocity and/or effort values that exceed the URDF limits?

### Atlas controller ignores limits from URDF.

In the DRCSim 2.0, I have noticed that when sending position commands (to say for example the neck_ay neck_ay joint), that the velocities reported by /atlas/joint_states /atlas/joint_states are much higher than the velocity_limits defined in the URDF.

Can we expect this to be fixed for the VRC, or should we continue to assume that we can see velocity and/or effort values that exceed the URDF limits?