From dade30668f62e20627a8f4ffd4ff92f8506ce955 Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Wed, 24 Apr 2024 09:57:18 +0200 Subject: [PATCH] update UR5 JTAC configs --- .../config/control/picknik_ur.ros2_control.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml index 808cb977..d32b01ad 100644 --- a/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml +++ b/src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml @@ -271,7 +271,14 @@ joint_trajectory_admittance_controller: - wrist_2_joint - wrist_3_joint base_frame: base_link - tip_frame: grasp_link sensor_frame: tool0 ee_frame: grasp_link ft_sensor_name: tcp_fts_sensor + # Joint accelerations chosen to match MoveIt configs. + stop_accelerations: + - 30.0 + - 30.0 + - 30.0 + - 30.0 + - 30.0 + - 30.0