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Increase velocity scaling

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This commit is contained in:
Michel Breyer 2021-12-06 11:03:46 +01:00
parent 6ea4ef4d34
commit a3e528a9d7
2 changed files with 2 additions and 2 deletions
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2
scripts/hw_node.py
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@ -49,7 +49,7 @@ class HwNode:
# Move to the initial configuration # Move to the initial configuration
self.switch_to_joint_trajectory_controller() self.switch_to_joint_trajectory_controller()
self.moveit.goto(q0) self.moveit.goto(q0, velocity_scaling=0.2)
self.gripper.move(0.08) self.gripper.move(0.08)
return ResetResponse(to_bbox_msg(bbox)) return ResetResponse(to_bbox_msg(bbox))

2
scripts/run.py
View File

@ -31,7 +31,7 @@ def main():
if args.wait_for_input: if args.wait_for_input:
controller.gripper.move(0.08) controller.gripper.move(0.08)
controller.switch_to_joint_trajectory_control() controller.switch_to_joint_trajectory_control()
controller.moveit.goto("ready") controller.moveit.goto("ready", velocity_scaling=0.2)
i = input("Run policy? [y/n] ") i = input("Run policy? [y/n] ")
if i != "y": if i != "y":
exit() exit()