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Adjust lite6 params

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Nicolas Hiillos
2023-04-11 12:02:47 +03:00
parent 925a9b42c7
commit 5145ffa6ac
1 changed files with 3 additions and 3 deletions
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6
src/lite6_controller/src/lite6_controller.cpp
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@@ -81,7 +81,7 @@ public:
float ylim_lower = -0.1475; float ylim_lower = -0.1475;
float ylim_upper = 0.1475; float ylim_upper = 0.1475;
//float zlim_lower = 0.1945; //float zlim_lower = 0.1945;
float zlim_lower = 0.207493; float zlim_lower = 0.188611;
float zlim_upper = zlim_lower + 0.01; float zlim_upper = zlim_lower + 0.01;
@@ -199,8 +199,8 @@ public:
//mpr.planner_id = "LIN"; //mpr.planner_id = "LIN";
mpr.group_name = move_group.getName(); mpr.group_name = move_group.getName();
//mpr.max_velocity_scaling_factor = 1.0; //mpr.max_velocity_scaling_factor = 1.0;
mpr.max_velocity_scaling_factor = 1.0; mpr.max_velocity_scaling_factor = 0.8;
mpr.max_acceleration_scaling_factor = 0.8; mpr.max_acceleration_scaling_factor = 0.9;
//mpr.max_acceleration_scaling_factor = 0.1; //mpr.max_acceleration_scaling_factor = 0.1;
mpr.allowed_planning_time = 20; mpr.allowed_planning_time = 20;
//mpr.max_cartesian_speed = 2; // m/s //mpr.max_cartesian_speed = 2; // m/s