From 12f4e04f6448fd6c1b18a30248d53fe356ff73c4 Mon Sep 17 00:00:00 2001 From: Bartok9 Date: Tue, 14 Jul 2026 02:30:30 -0400 Subject: [PATCH] fix(moveit): enable joint acceleration limits for bimanual planning MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Salvage of #89 by @leochien1110 on current main after joint_limits.yaml split into openarm_v1.0/ and openarm_v2.0/. Set has_acceleration_limits: true and max_acceleration: 5.0 for all listed joints in both configs so MoveIt time-parameterization / Plan to unit pose can succeed under use_fake_hardware demos (previously false + 0.0 accel often failed Plan/Plan & Execute). Credit: original diagnosis and values from PR #89. Not hardware-qualified; fake/demo workflow focus. Reviewers may tune the 5.0 rad/s² cap. --- .../config/openarm_v1.0/joint_limits.yaml | 64 +++++++++---------- .../config/openarm_v2.0/joint_limits.yaml | 64 +++++++++---------- 2 files changed, 64 insertions(+), 64 deletions(-) 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