# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# 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:
  openarm_left_finger_joint1:
   has_velocity_limits: true
   max_velocity: 10.0
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_left_joint1:
   has_velocity_limits: true
   max_velocity: 16.754666
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_left_joint2:
   has_velocity_limits: true
   max_velocity: 16.754666
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_left_joint3:
   has_velocity_limits: true
   max_velocity: 5.445426
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_left_joint4:
   has_velocity_limits: true
   max_velocity: 5.445426
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_left_joint5:
   has_velocity_limits: true
   max_velocity: 20.943946
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_left_joint6:
   has_velocity_limits: true
   max_velocity: 20.943946
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_left_joint7:
   has_velocity_limits: true
   max_velocity: 20.943946
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_finger_joint1:
   has_velocity_limits: true
   max_velocity: 10.0
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_joint1:
   has_velocity_limits: true
   max_velocity: 16.754666
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_joint2:
   has_velocity_limits: true
   max_velocity: 16.754666
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_joint3:
   has_velocity_limits: true
   max_velocity: 5.445426
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_joint4:
   has_velocity_limits: true
   max_velocity: 5.445426
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_joint5:
   has_velocity_limits: true
   max_velocity: 20.943946
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_joint6:
   has_velocity_limits: true
   max_velocity: 20.943946
   has_acceleration_limits: false
   max_acceleration: 0.0
  openarm_right_joint7:
   has_velocity_limits: true
   max_velocity: 20.943946
   has_acceleration_limits: false
   max_acceleration: 0.0