Clarify source of joint limits and other specs

abb_crb15000_support/package.xml

@@ -14,15 +14,18 @@
     </p>
     <p>
       Joint limits and max joint velocities are based on the information in the
-      <em>ABB CRB 15000 Datasheet</em>, document ID: <em>TODO, Feb 2021</em>.
+      <em>ABB CRB 15000 Datasheet</em>, document ID: <em>TODO, Feb 2021</em> for
+      the CRB 15000-5/0.95. For CRB 15000-12/1.27, they are based on the
+      information in <em>ABB CRB 15000 Product manual</em>, document ID:
+      <em>3HAC077389-001, Rev. P</em>.
       All urdfs / xacros are based on the default motion and joint velocity
       limits, unless noted otherwise (ie: no support for high speed joints,
       extended / limited motion ranges or other options).
     </p>
     <p>
-      Note 1: this is an early conversion from CAD data downloaded from ABB's
-      library with geometry and kinematics partially based on the GoFa
-      datasheet.
+      Note 1: the CRB 15000-5/0.95 is an early conversion from CAD data
+      downloaded from ABB's library with geometry and kinematics partially
+      based on the GoFa datasheet.
       There may be conversion errors and other deviations from the real robot.
     </p>
     <p>