reduced the minimum max velocity joint limit from 0.01 to 0.001 for totg

moveit · Nov 1, 2021 · 03f85d5 · 03f85d5
1 parent d1465a7
commit 03f85d5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -934,15 +934,15 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
     {
       max_velocity[j] =
           std::min(std::fabs(bounds.max_velocity_), std::fabs(bounds.min_velocity_)) * velocity_scaling_factor;
-      max_velocity[j] = std::max(0.01, max_velocity[j]);
+      max_velocity[j] = std::max(0.001, max_velocity[j]);
     }
 
     max_acceleration[j] = 1.0;
     if (bounds.acceleration_bounded_)
     {
       max_acceleration[j] = std::min(std::fabs(bounds.max_acceleration_), std::fabs(bounds.min_acceleration_)) *
                             acceleration_scaling_factor;
-      max_acceleration[j] = std::max(0.01, max_acceleration[j]);
+      max_acceleration[j] = std::max(0.001, max_acceleration[j]);
     }
   }