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Faster motions
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@mpowelson
mpowelson committed Sep 10, 2018
1 parent 0539ad6 commit 5488fda
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Showing 2 changed files with 25 additions and 25 deletions.
38 changes: 19 additions & 19 deletions ceccrebot_demo/config/positions.yaml
View file
Expand Up @@ -27,13 +27,13 @@ positions:
speed_factor: 1.0 speed_factor: 1.0
cnc_default_pregrasp: cnc_default_pregrasp:
position: [97.01, -132.04, -79.00, -58.56, 89.07, -61.95] position: [97.01, -132.04, -79.00, -58.56, 89.07, -61.95]
speed_factor: 1.0 speed_factor: 0.2
cnc_default_pick: cnc_default_pick:
position: [97.02, -135.07, -80.21, -54.30, 89.06, -61.94] position: [97.02, -135.07, -80.21, -54.30, 89.06, -61.94]
speed_factor: 1.0 speed_factor: 0.1
cnc_default_place: cnc_default_place:
position: [96.95, -135.07, -80.00, -54.51, 89.07, -62.02] position: [96.95, -135.07, -80.00, -54.51, 89.07, -62.02]
speed_factor: 1.0 speed_factor: 0.1
cmm_default_waypoint: cmm_default_waypoint:
position: [-71.09, -52.21, -134.59, -83.32, 90.25, 10.25] position: [-71.09, -52.21, -134.59, -83.32, 90.25, 10.25]
speed_factor: 1.0 speed_factor: 1.0
Expand All @@ -45,58 +45,58 @@ positions:
speed_factor: 1.0 speed_factor: 1.0
cmm_default_pregrasp: cmm_default_pregrasp:
position: [-143.11, -124.80, -94.89, -50.38, 89.68, -31.94] position: [-143.11, -124.80, -94.89, -50.38, 89.68, -31.94]
speed_factor: 1.0 speed_factor: 0.5
cmm_default_pick: cmm_default_pick:
position: [-143.54, -128.28, -94.78, -48.01, 90.83, -32.18] position: [-143.54, -128.28, -94.78, -48.01, 90.83, -32.18]
speed_factor: 1.0 speed_factor: 0.1
cmm_default_place: cmm_default_place:
position: [-143.30, -127.81, -95.56, -46.76, 90.39, -32.89] position: [-143.30, -127.81, -95.56, -46.76, 90.39, -32.89]
speed_factor: 1.0 speed_factor: 0.1
conv_good_pregrasp: conv_good_pregrasp:
position: [-59.93, -121.68, -85.15, -62.61, 90.20, -36.03] position: [-59.93, -121.68, -85.15, -62.61, 90.20, -36.03]
speed_factor: 1.0 speed_factor: 1.0
conv_good_pick: conv_good_pick:
position: [-60.10, -123.12, -86.50, -60.32, 91.14, -35.86] position: [-60.10, -123.12, -86.50, -60.32, 91.14, -35.86]
speed_factor: 1.0 speed_factor: 0.1
conv_good_place: conv_good_place:
position: [-60.10, -122.93, -86.33, -60.69, 91.15, -35.86] position: [-60.10, -122.93, -86.33, -60.69, 91.15, -35.86]
speed_factor: 1.0 speed_factor: 0.1
conv_bad_pregrasp: conv_bad_pregrasp:
position: [-50.48, -104.40, -110.29, -54.99, 89.86, -26.38] position: [-50.48, -104.40, -110.29, -54.99, 89.86, -26.38]
speed_factor: 1.0 speed_factor: 1.0
conv_bad_pick: conv_bad_pick:
position: [-50.27, -106.29, -112.14, -51.27, 89.83, -26.22] position: [-50.27, -106.29, -112.14, -51.27, 89.83, -26.22]
speed_factor: 1.0 speed_factor: 0.1
conv_bad_place: conv_bad_place:
position: [-50.27, -106.07, -111.98, -51.64, 89.83, -26.22] position: [-50.27, -106.07, -111.98, -51.64, 89.83, -26.22]
speed_factor: 1.0 speed_factor: 0.1
conv_rework_pregrasp: conv_rework_pregrasp:
position: [-64.31, -97.84, -118.08, -53.73, 89.98, -40.20] position: [-64.31, -97.84, -118.08, -53.73, 89.98, -40.20]
speed_factor: 1.0 speed_factor: 1.0
conv_rework_pick: conv_rework_pick:
position: [-64.04, -100.02, -120.61, -49.03, 89.95, -39.98] position: [-64.04, -100.02, -120.61, -49.03, 89.95, -39.98]
speed_factor: 1.0 speed_factor: 0.1
conv_rework_place: conv_rework_place:
position: [-64.04, -99.81, -120.48, -49.38, 89.96, -39.97] position: [-64.04, -99.81, -120.48, -49.38, 89.96, -39.97]
speed_factor: 1.0 speed_factor: 0.1
buff_default_pregrasp: buff_default_pregrasp:
position: [-71.29, -116.75, -92.67, -60.09, 90.34, -47.37] position: [-71.29, -116.75, -92.67, -60.09, 90.34, -47.37]
speed_factor: 1.0 speed_factor: 1.0
buff_default_pick: buff_default_pick:
position: [-71.17, -118.03, -94.97, -56.37, 90.29, -47.05] position: [-71.17, -118.03, -94.97, -56.37, 90.29, -47.05]
speed_factor: 1.0 speed_factor: 0.1
buff_default_place: buff_default_place:
position: [-71.17, -117.91, -94.88, -56.58, 90.29, -47.05] position: [-71.17, -117.91, -94.88, -56.58, 90.29, -47.05]
speed_factor: 1.0 speed_factor: 0.1
tabletool_default_pregrasp: tabletool_default_pregrasp:
position: [-47.02, -114.59, -78.66, -76.12, 90.27, -22.66] position: [-47.02, -114.59, -78.66, -76.12, 90.27, -22.66]
speed_factor: 1.0 speed_factor: 1.0
tabletool_default_pick: tabletool_default_pick:
position: [-47.02, -118.25, -85.97, -65.14, 90.26, -22.65] position: [-47.02, -118.25, -85.97, -65.14, 90.26, -22.65]
speed_factor: 1.0 speed_factor: 0.1
tabletool_default_place: tabletool_default_place:
position: [-47.02, -118.21, -85.90, -65.27, 90.26, -22.65] position: [-47.02, -118.21, -85.90, -65.27, 90.26, -22.65]
speed_factor: 1.0 speed_factor: 0.1
cnctool_default_waypoint: cnctool_default_waypoint:
position: [58.66, -57.35, -142.06, -69.60, 89.24, -67.20] position: [58.66, -57.35, -142.06, -69.60, 89.24, -67.20]
speed_factor: 1.0 speed_factor: 1.0
Expand All @@ -108,10 +108,10 @@ positions:
speed_factor: 1.0 speed_factor: 1.0
cnctool_default_pregrasp: cnctool_default_pregrasp:
position: [86.54, -139.48, -61.88, -68.35, 89.54, -163.50] position: [86.54, -139.48, -61.88, -68.35, 89.54, -163.50]
speed_factor: 1.0 speed_factor: 0.2
cnctool_default_pick: cnctool_default_pick:
position: [86.54, -143.23, -64.20, -62.26, 89.52, -163.51] position: [86.54, -143.23, -64.20, -62.26, 89.52, -163.51]
speed_factor: 1.0 speed_factor: 0.1
cnctool_default_place: cnctool_default_place:
position: [86.54, -142.87, -64.07, -62.76, 89.52, -163.51] position: [86.54, -142.87, -64.07, -62.76, 89.52, -163.51]
speed_factor: 1.0 speed_factor: 0.1
12 changes: 6 additions & 6 deletions demo_ur10_moveit_config/config/joint_limits.yaml
View file
Expand Up @@ -5,31 +5,31 @@ joint_limits:
ur_elbow_joint: ur_elbow_joint:
min_position: -2.6 min_position: -2.6
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.5 max_velocity: 1.0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
ur_shoulder_lift_joint: ur_shoulder_lift_joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.2 max_velocity: 1.0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
ur_shoulder_pan_joint: ur_shoulder_pan_joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.2 max_velocity: 1.0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
ur_wrist_1_joint: ur_wrist_1_joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.2 max_velocity: 1.0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
ur_wrist_2_joint: ur_wrist_2_joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.2 max_velocity: 1.0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
ur_wrist_3_joint: ur_wrist_3_joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.2 max_velocity: 1.0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0

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