From 7a6686a363c3f0b2c66d085f3cc182726e3259a5 Mon Sep 17 00:00:00 2001 From: Wen-Yu Date: Fri, 24 Apr 2026 18:25:51 +0800 Subject: [PATCH] Fix MoveIt planning by defining joint acceleration limits --- .../config/joint_limits.yaml | 64 +++++++++---------- 1 file changed, 32 insertions(+), 32 deletions(-) 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