# 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_position_limits: true
    min_position: -2.97
    max_position: 2.97
    has_velocity_limits: true
    max_velocity: 1.71
    has_acceleration_limits: true
    max_acceleration: 8.5521
    has_jerk_limits: true
    max_jerk: 85.0
  joint2:
    has_position_limits: true
    min_position: -2.10
    max_position: 2.10
    has_velocity_limits: true
    max_velocity: 1.71
    has_acceleration_limits: true
    max_acceleration: 8.5521
    has_jerk_limits: true
    max_jerk: 85.0
  joint3:
    has_position_limits: true
    min_position: -2.97
    max_position: 2.97
    has_velocity_limits: true
    max_velocity: 1.75
    has_acceleration_limits: true
    max_acceleration: 8.7266
    has_jerk_limits: true
    max_jerk: 87.0
  joint4:
    has_position_limits: true
    min_position: -2.10
    max_position: 2.10
    has_velocity_limits: true
    max_velocity: 2.27
    has_acceleration_limits: true
    max_acceleration: 11.3446
    has_jerk_limits: true
    max_jerk: 113.0
  joint5:
    has_position_limits: true
    min_position: -2.97
    max_position: 2.97
    has_velocity_limits: true
    max_velocity: 2.44
    has_acceleration_limits: true
    max_acceleration: 12.2173
    has_jerk_limits: true
    max_jerk: 122.0
  joint6:
    has_position_limits: true
    min_position: -2.10
    max_position: 2.10
    has_velocity_limits: true
    max_velocity: 3.14
    has_acceleration_limits: true
    max_acceleration: 15.7080
    has_jerk_limits: true
    max_jerk: 157.0
  joint7:
    has_position_limits: true
    min_position: -3.05
    max_position: 3.05
    has_velocity_limits: true
    max_velocity: 3.14
    has_acceleration_limits: true
    max_acceleration: 15.7080
    has_jerk_limits: true
    max_jerk: 157.0