# 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: joint_1: has_velocity_limits: true max_velocity: 0.9 #1.032 has_acceleration_limits: true max_acceleration: 1 joint_2: has_velocity_limits: true max_velocity: 0.4 #0.452 has_acceleration_limits: true max_acceleration: 1 joint_3: has_velocity_limits: true max_velocity: 0.5 #0.618 has_acceleration_limits: true max_acceleration: 1 joint_4: has_velocity_limits: true max_velocity: 0.4 #0.494 has_acceleration_limits: true max_acceleration: 1 joint_5: has_velocity_limits: true max_velocity: 0.4 #0.494 has_acceleration_limits: true max_acceleration: 1 joint_6: has_velocity_limits: true max_velocity: 1.2 #1.344 has_acceleration_limits: true max_acceleration: 1

这是一个 YAML 格式的文件，用于指定 URDF 中关节的动力学属性，并允许对其进行修改或增强。具体来说，可以使用 [max_position, min_position, max_velocity, max_acceleration] 这些关键字来更改特定关节的属性。也可以使用 [has_velocity_limits, has_acceleration_limits] 这些关键字来关闭关节限制。在这个文件中，定义了六个关节（joint_1 到 joint_6），每个关节都有最大速度和最大加速度的限制。这些限制可以根据需要进行修改。