Velocity/Acceleration/Torque limits


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Hi, 

I am trying to find an answer to two questions:

1. What are the velocity,  acceleration and effort limits for each joint. 

2. Can these limits be changed? How?

On question 1, I am aware there are limits in the robot urdf. Are these parameters used by the joint controllers? Are there other parameters that are used by the joint controllers that influence these limits.

I have also seen these numbers from the sawyer MoveIt config files:

https://github.com/RethinkRobotics/sawyer_moveit/blob/master/sawyer_moveit_config/config/joint_limits.yaml

Are the "Express config" limits (in the file above) physically realizable by the robot?  

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