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Finetuning xArm parameters

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Nicolas Hiillos
2023-03-10 14:58:04 +02:00
parent e64aa4fbae
commit 6a2c84ccc4
3 changed files with 13 additions and 7 deletions
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4
src/lite6_controller/launch/lite6_real.launch.py
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@@ -188,7 +188,9 @@ 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'] = 1.5
#joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 2.5
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 3.0
add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
add_prefix_to_moveit_params(