diff --git a/fuse_constraints/fuse_plugins.xml b/fuse_constraints/fuse_plugins.xml
index aa6b02c54..b1e55c076 100644
--- a/fuse_constraints/fuse_plugins.xml
+++ b/fuse_constraints/fuse_plugins.xml
@@ -118,4 +118,28 @@
     A constraint that represents a measurement on the difference between two 3D poses.
     </description>
   </class>
+    <class type="fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
+    <description>
+    A constraint that represents either prior information about a 3D angular acceleration, or a direct measurement of
+    the 3D angular acceleration.
+    </description>
+  </class>
+  <class type="fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
+    <description>
+    A constraint that represents either prior information about a 3D linear acceleration, or a direct measurement of
+    the 3D linear acceleration.
+    </description>
+  </class>
+  <class type="fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
+    <description>
+    A constraint that represents either prior information about a 3D angular velocity, or a direct measurement of
+    the 3D angular velocity.
+    </description>
+  </class>
+  <class type="fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
+    <description>
+    A constraint that represents either prior information about a 3D linear velocity, or a direct measurement of
+    the 3D linear velocity.
+    </description>
+  </class>
 </library>
diff --git a/fuse_constraints/include/fuse_constraints/absolute_constraint.hpp b/fuse_constraints/include/fuse_constraints/absolute_constraint.hpp
index 8bb4ac4c7..972819e5f 100644
--- a/fuse_constraints/include/fuse_constraints/absolute_constraint.hpp
+++ b/fuse_constraints/include/fuse_constraints/absolute_constraint.hpp
@@ -206,6 +206,14 @@ using AbsoluteVelocityAngular2DStampedConstraint =
   AbsoluteConstraint<fuse_variables::VelocityAngular2DStamped>;
 using AbsoluteVelocityLinear2DStampedConstraint =
   AbsoluteConstraint<fuse_variables::VelocityLinear2DStamped>;
+using AbsoluteAccelerationAngular3DStampedConstraint =
+  AbsoluteConstraint<fuse_variables::AccelerationAngular3DStamped>;
+using AbsoluteAccelerationLinear3DStampedConstraint =
+  AbsoluteConstraint<fuse_variables::AccelerationLinear3DStamped>;
+using AbsoluteVelocityAngular3DStampedConstraint =
+  AbsoluteConstraint<fuse_variables::VelocityAngular3DStamped>;
+using AbsoluteVelocityLinear3DStampedConstraint =
+  AbsoluteConstraint<fuse_variables::VelocityLinear3DStamped>;
 }  // namespace fuse_constraints
 
 // Include the template implementation
@@ -218,5 +226,9 @@ BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsolutePosition2DStampedConstraint);
 BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsolutePosition3DStampedConstraint);
 BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityAngular2DStampedConstraint);
 BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint);
+BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint);
+BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint);
+BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint);
+BOOST_CLASS_EXPORT_KEY(fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint);
 
 #endif  // FUSE_CONSTRAINTS__ABSOLUTE_CONSTRAINT_HPP_
diff --git a/fuse_constraints/include/fuse_constraints/absolute_constraint_impl.hpp b/fuse_constraints/include/fuse_constraints/absolute_constraint_impl.hpp
index cbb689b54..8e2c269db 100644
--- a/fuse_constraints/include/fuse_constraints/absolute_constraint_impl.hpp
+++ b/fuse_constraints/include/fuse_constraints/absolute_constraint_impl.hpp
@@ -185,6 +185,30 @@ inline std::string AbsoluteConstraint<fuse_variables::VelocityLinear2DStamped>::
   return "fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint";
 }
 
+template<>
+inline std::string AbsoluteConstraint<fuse_variables::AccelerationAngular3DStamped>::type() const
+{
+  return "fuse_constraints_3d::AbsoluteAccelerationAngular3DStampedConstraint";
+}
+
+template<>
+inline std::string AbsoluteConstraint<fuse_variables::AccelerationLinear3DStamped>::type() const
+{
+  return "fuse_constraints_3d::AbsoluteAccelerationLinear3DStampedConstraint";
+}
+
+template<>
+inline std::string AbsoluteConstraint<fuse_variables::VelocityAngular3DStamped>::type() const
+{
+  return "fuse_constraints_3d::AbsoluteVelocityAngular3DStampedConstraint";
+}
+
+template<>
+inline std::string AbsoluteConstraint<fuse_variables::VelocityLinear3DStamped>::type() const
+{
+  return "fuse_constraints_3d::AbsoluteVelocityLinear3DStampedConstraint";
+}
+
 }  // namespace fuse_constraints
 
 #endif  // FUSE_CONSTRAINTS__ABSOLUTE_CONSTRAINT_IMPL_HPP_
diff --git a/fuse_constraints/src/absolute_constraint.cpp b/fuse_constraints/src/absolute_constraint.cpp
index 9aa7593fc..bb32540bf 100644
--- a/fuse_constraints/src/absolute_constraint.cpp
+++ b/fuse_constraints/src/absolute_constraint.cpp
@@ -42,6 +42,10 @@ BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsolutePosition2DStampedConstrai
 BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsolutePosition3DStampedConstraint);
 BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityAngular2DStampedConstraint);
 BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint);
+BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint);
+BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint);
+BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint);
+BOOST_CLASS_EXPORT_IMPLEMENT(fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint);
 
 PLUGINLIB_EXPORT_CLASS(
   fuse_constraints::AbsoluteAccelerationAngular2DStampedConstraint,
@@ -64,3 +68,15 @@ PLUGINLIB_EXPORT_CLASS(
 PLUGINLIB_EXPORT_CLASS(
   fuse_constraints::AbsoluteVelocityLinear2DStampedConstraint,
   fuse_core::Constraint);
+PLUGINLIB_EXPORT_CLASS(
+  fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint,
+  fuse_core::Constraint);
+PLUGINLIB_EXPORT_CLASS(
+  fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint,
+  fuse_core::Constraint);
+PLUGINLIB_EXPORT_CLASS(
+  fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint,
+  fuse_core::Constraint);
+PLUGINLIB_EXPORT_CLASS(
+  fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint,
+  fuse_core::Constraint);