From 554d0992806914230182aea6bc383128702133ab Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Thu, 26 Jan 2023 10:12:10 +0200 Subject: [PATCH] Reduce maximum acceleration --- src/lite6_controller/launch/lite6_gazebo.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lite6_controller/launch/lite6_gazebo.launch.py b/src/lite6_controller/launch/lite6_gazebo.launch.py index 5184671..66a6f26 100644 --- a/src/lite6_controller/launch/lite6_gazebo.launch.py +++ b/src/lite6_controller/launch/lite6_gazebo.launch.py @@ -302,7 +302,7 @@ def launch_setup(context, *args, **kwargs): # FIX acceleration limits for i in range(1,7): joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True - joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0 + joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5 #print(joint_limits_yaml) #quit()