diff --git a/openarm_bimanual_moveit_config/config/openarm_v1.0/joint_limits.yaml b/openarm_bimanual_moveit_config/config/openarm_v1.0/joint_limits.yaml index 858e3172..22b3f57f 100644 --- a/openarm_bimanual_moveit_config/config/openarm_v1.0/joint_limits.yaml +++ b/openarm_bimanual_moveit_config/config/openarm_v1.0/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 + has_acceleration_limits: true + max_acceleration: 5.0 diff --git a/openarm_bimanual_moveit_config/config/openarm_v2.0/joint_limits.yaml b/openarm_bimanual_moveit_config/config/openarm_v2.0/joint_limits.yaml index 3f60ae44..b3c14132 100644 --- a/openarm_bimanual_moveit_config/config/openarm_v2.0/joint_limits.yaml +++ b/openarm_bimanual_moveit_config/config/openarm_v2.0/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 + has_acceleration_limits: true + max_acceleration: 5.0