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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:
- joint_1:
- has_velocity_limits: true
- max_velocity: 3.403392
- has_acceleration_limits: false
- max_acceleration: 0
- joint_2:
- has_velocity_limits: true
- max_velocity: 3.054326
- has_acceleration_limits: false
- max_acceleration: 0
- joint_3:
- has_velocity_limits: true
- max_velocity: 3.141593
- has_acceleration_limits: false
- max_acceleration: 0
- joint_4:
- has_velocity_limits: true
- max_velocity: 6.283185
- has_acceleration_limits: false
- max_acceleration: 0
- joint_5:
- has_velocity_limits: true
- max_velocity: 6.283185
- has_acceleration_limits: false
- max_acceleration: 0
- joint_6:
- has_velocity_limits: true
- max_velocity: 9.599311
- has_acceleration_limits: false
- max_acceleration: 0
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