From a3e528a9d707f58072b74f2669c20236a6100640 Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Mon, 6 Dec 2021 11:03:46 +0100
Subject: [PATCH] Increase velocity scaling

---
 scripts/hw_node.py | 2 +-
 scripts/run.py     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/hw_node.py b/scripts/hw_node.py
index 181cd21..6ee1db3 100755
--- a/scripts/hw_node.py
+++ b/scripts/hw_node.py
@@ -49,7 +49,7 @@ class HwNode:
 
         # Move to the initial configuration
         self.switch_to_joint_trajectory_controller()
-        self.moveit.goto(q0)
+        self.moveit.goto(q0, velocity_scaling=0.2)
         self.gripper.move(0.08)
 
         return ResetResponse(to_bbox_msg(bbox))
diff --git a/scripts/run.py b/scripts/run.py
index b9da424..5c02047 100755
--- a/scripts/run.py
+++ b/scripts/run.py
@@ -31,7 +31,7 @@ def main():
         if args.wait_for_input:
             controller.gripper.move(0.08)
             controller.switch_to_joint_trajectory_control()
-            controller.moveit.goto("ready")
+            controller.moveit.goto("ready", velocity_scaling=0.2)
             i = input("Run policy? [y/n] ")
             if i != "y":
                 exit()