How to control the speed of the Fetch's arm?

[DanielTakeshi]

Hi all,

I have some code set up that can move the robot's arm (well, end-effector) to a pose. When I do this to the physical Fetch robot, the arm moves very quickly. Thus, I am hoping to control the speed to slow it down.

My code is similar to this code base, but I'm thinking of now using stuff from fetch_pbd and merging it into my code, which is why I'm reading this code repository. I noticed a few observations:

• The arm.py code here uses a velocities argument in the move_to_joints_plan method. However, it's commented out. Is this supposed to be something that could control the speed of the robot?

• move_to_pose has a self._move_group.set_planning_time(1.0) call. I assume this is for the planning time but does not affect how fast the arm moves once the plan is set. Is that correct?

• fetch_pbd_interaction/arm_control.py has some module-level constants: MOVE_TO_JOINTS_SLEEP_INTERVAL and TRAJECTORY_COMPLETE_SLEEP_INTERVAL . But the code comments there imply that these are invoked after the arm has finished moving, and does not control the speed while the arm is moving.

I wonder if there is an example script somewhere that could show an example of controlling the velocity of the robot? There seems to be some code re-use between several arm-related scripts so I also appreciate any code recommendations or best practices. Or maybe the best practice is to try and put a rospy.sleep(...) somewhere during the move methods?

Thanks all! I'm happy to clarify my questions as needed.

[DanielTakeshi]

Update: turns out it's probably best to adjust MoveIt's max_velocity_scaling_factor. I tried that on my physical Fetch robot and it works.