diff --git a/openarm_bimanual_moveit_config/config/joint_limits.yaml b/openarm_bimanual_moveit_config/config/joint_limits.yaml
index 995f9999..9af1b845 100644
--- a/openarm_bimanual_moveit_config/config/joint_limits.yaml
+++ b/openarm_bimanual_moveit_config/config/joint_limits.yaml
@@ -25,80 +25,80 @@ joint_limits:
   openarm_left_finger_joint1:
    has_velocity_limits: true
    max_velocity: 10.0
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_left_joint1:
    has_velocity_limits: true
    max_velocity: 16.754666
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_left_joint2:
    has_velocity_limits: true
    max_velocity: 16.754666
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_left_joint3:
    has_velocity_limits: true
    max_velocity: 5.445426
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_left_joint4:
    has_velocity_limits: true
    max_velocity: 5.445426
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_left_joint5:
    has_velocity_limits: true
    max_velocity: 20.943946
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_left_joint6:
    has_velocity_limits: true
    max_velocity: 20.943946
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_left_joint7:
    has_velocity_limits: true
    max_velocity: 20.943946
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_finger_joint1:
    has_velocity_limits: true
    max_velocity: 10.0
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_joint1:
    has_velocity_limits: true
    max_velocity: 16.754666
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_joint2:
    has_velocity_limits: true
    max_velocity: 16.754666
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_joint3:
    has_velocity_limits: true
    max_velocity: 5.445426
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_joint4:
    has_velocity_limits: true
    max_velocity: 5.445426
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_joint5:
    has_velocity_limits: true
    max_velocity: 20.943946
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_joint6:
    has_velocity_limits: true
    max_velocity: 20.943946
-   has_acceleration_limits: false
-   max_acceleration: 0.0
+   has_acceleration_limits: true
+   max_acceleration: 5.0
   openarm_right_joint7:
    has_velocity_limits: true
    max_velocity: 20.943946
-   has_acceleration_limits: false
-   max_acceleration: 0.0
\ No newline at end of file
+   has_acceleration_limits: true
+   max_acceleration: 5.0
\ No newline at end of file