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Fix MoveIt planning by defining joint acceleration limits #89

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Fix MoveIt planning by defining joint acceleration limits #89

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64 changes: 32 additions & 32 deletions openarm_bimanual_moveit_config/config/joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
has_acceleration_limits: true
max_acceleration: 5.0