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update UR5 JTAC configs #265

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Apr 24, 2024
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update UR5 JTAC configs #265

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9 changes: 8 additions & 1 deletion src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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