Add ConverterBehaviors and reduce servo limits (#43)

PickNikRobotics · Aug 20, 2024 · 8e77c75 · 8e77c75
1 parent 71a5561
commit 8e77c75
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Showing 2 changed files with 16 additions and 15 deletions.
diff --git a/src/kinova_gen3_base_config/config/config.yaml b/src/kinova_gen3_base_config/config/config.yaml
@@ -128,6 +128,7 @@ objectives:
       - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_studio::behaviors::ServoBehaviorsLoader"
       - "moveit_studio::behaviors::VisionBehaviorsLoader"
+      - "moveit_studio::behaviors::ConverterBehaviorsLoader"
   objective_library_paths:
     core:
       package_name: "kinova_gen3_base_config"

diff --git a/src/kinova_gen3_base_config/config/moveit/servo_joint_limits.yaml b/src/kinova_gen3_base_config/config/moveit/servo_joint_limits.yaml
@@ -5,41 +5,41 @@
 joint_limits:
   joint_1:
     has_velocity_limits: true
-    max_velocity: 1.39
+    max_velocity: 0.5
     has_acceleration_limits: true
-    max_acceleration: 3.0
+    max_acceleration: 1.5
   joint_2:
     has_velocity_limits: true
-    max_velocity: 1.39
+    max_velocity: 0.5
     has_acceleration_limits: true
-    max_acceleration: 3.0
+    max_acceleration: 1.5
   joint_3:
     has_velocity_limits: true
-    max_velocity: 1.39
+    max_velocity: 0.5
     has_acceleration_limits: true
-    max_acceleration: 3.0
+    max_acceleration: 1.5
   joint_4:
     has_velocity_limits: true
-    max_velocity: 1.39
+    max_velocity: 0.5
     has_acceleration_limits: true
-    max_acceleration: 3.0
+    max_acceleration: 1.5
   joint_5:
     has_velocity_limits: true
-    max_velocity: 1.22
+    max_velocity: 0.5
     has_acceleration_limits: true
-    max_acceleration: 5.0
+    max_acceleration: 2.5
   joint_6:
     has_velocity_limits: true
-    max_velocity: 1.22
+    max_velocity: 0.5
     has_acceleration_limits: true
-    max_acceleration: 5.0
+    max_acceleration: 2.5
   joint_7:
     has_velocity_limits: true
-    max_velocity: 1.22
+    max_velocity: 0.5
     has_acceleration_limits: true
-    max_acceleration: 5.0
+    max_acceleration: 2.5
   finger_joint:
     has_velocity_limits: true
     max_velocity: 2.0
     has_acceleration_limits: true
-    max_acceleration: 5.0
+    max_acceleration: 2.5