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Max Hunt 2020-02-15 14:45:35 +00:00
parent 28f206a161
commit 86a25db048
1 changed files with 1 additions and 2 deletions
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new_main.py
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@ -82,9 +82,8 @@ class PickAndPlace(object):
def _guarded_move_to_joint_position(self, joint_angles): def _guarded_move_to_joint_position(self, joint_angles):
if joint_angles: if joint_angles:
self._limb.set_joint_position_speed(self._speed) self._limb.set_joint_position_speed(0.2)
self._limb.move_to_joint_positions(joint_angles, timeout=20.0, threshold=self._accuracy) self._limb.move_to_joint_positions(joint_angles, timeout=20.0, threshold=self._accuracy)
self._limb.set_joint_position_speed(0.3)
else: else:
rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.") rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.")