allow the gripper to close faster we implemented a way to pass joint accel from the openpi-beta - #2
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Joint::init_config_individual now reads an optional grip_torque_limit from the effector individual (instance) config, overriding the model value when present. For the Yam gripper this sets the follower close speed/force in teleop: the per-cycle command window is grip_torque_limit / kp (clamp_target_to_grip_torque_limit), so raising it makes the gripper close faster (and squeeze harder). This lets openpi-beta tune the gripper close from its per-arm effector calibration JSON without a separate effector model. Absent -> keep the model value; validated finite and non-negative after the override.
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Joint::init_config_individual now reads optional vel_max, accel_max, and follow_vel_max from the effector individual (instance) config, overriding the model-config values when present. This lets a caller tune joint motion limits -- e.g. openpi-beta raising the Yam gripper close speed via its per-arm effector calibration JSON (effector_instance_config) -- without shipping a separate effector model. Absent fields keep the model value; follow_vel_max keeps tracking vel_max when not set explicitly, and the limits are validated finite/positive after the override.