reducing the minimum velicity scaling factor to enable slower motions

moveit · Nov 29, 2024 · e142a50 · e142a50
1 parent a35a3c9
commit e142a50
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h b/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h
@@ -279,7 +279,7 @@ class TrajectoryGenerator
 protected:
   const moveit::core::RobotModelConstPtr robot_model_;
   const pilz_industrial_motion_planner::LimitsContainer planner_limits_;
-  static constexpr double MIN_SCALING_FACTOR{ 0.0001 };
+  static constexpr double MIN_SCALING_FACTOR{ 0.0000001 };
   static constexpr double MAX_SCALING_FACTOR{ 1. };
   static constexpr double VELOCITY_TOLERANCE{ 1e-8 };
   const std::unique_ptr<rclcpp::Clock> clock_;