velocity.cpp

 for (unsigned i = 0 ; i < jointVel.getSize() ; ++i)
    {
        float vel = jointVel[i];
        AL::ALValue limits = m_motionProxy->getLimits(jointName[i]);

        if (vel > 0.0f)
           angles.arrayPush(limits[0][1]); //max
        else if (vel < 0.0f)
           angles.arrayPush(limits[0][0]); //min

        float fraction = fabs( float (vel/float(limits[0][2])));
        fractions.push_back(fraction);
    }
    
 m_motionProxy->setAngles(jointNames,angles,fractions);