# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# 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_to_base:
    has_velocity_limits: false
    max_velocity: 0
    has_acceleration_limits: false
    max_acceleration: 0
  joint2_to_joint1:
    has_velocity_limits: false
    max_velocity: 0
    has_acceleration_limits: false
    max_acceleration: 0
  joint3_to_joint2:
    has_velocity_limits: false
    max_velocity: 0
    has_acceleration_limits: false
    max_acceleration: 0
  joint4_to_joint3:
    has_velocity_limits: false
    max_velocity: 0
    has_acceleration_limits: false
    max_acceleration: 0
  joint5_to_joint4:
    has_velocity_limits: false
    max_velocity: 0
    has_acceleration_limits: false
    max_acceleration: 0
  joint6_to_joint5:
    has_velocity_limits: false
    max_velocity: 0
    has_acceleration_limits: false
    max_acceleration: 0
  # joint6output_to_joint6:
  #   has_velocity_limits: false
  #   max_velocity: 0
  #   has_acceleration_limits: false
  #   max_acceleration: 0