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- # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
- # For beginners, we downscale velocity and acceleration limits.
- # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
- default_velocity_scaling_factor: 0.1
- default_acceleration_scaling_factor: 0.1
- # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
- # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
- joint_limits:
- joint1:
- has_velocity_limits: true
- max_velocity: 3.49
- has_acceleration_limits: false
- max_acceleration: 0
- joint2:
- has_velocity_limits: true
- max_velocity: 3.49
- has_acceleration_limits: false
- max_acceleration: 0
- joint3:
- has_velocity_limits: true
- max_velocity: 3.67
- has_acceleration_limits: false
- max_acceleration: 0
- joint4:
- has_velocity_limits: true
- max_velocity: 7.5
- has_acceleration_limits: false
- max_acceleration: 0
- joint5:
- has_velocity_limits: true
- max_velocity: 7.5
- has_acceleration_limits: false
- max_acceleration: 0
- joint6:
- has_velocity_limits: true
- max_velocity: 11
- has_acceleration_limits: false
- max_acceleration: 0
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