set scaling factor for pilz lin

kroshu · Oct 24, 2023 · 02c646e · 02c646e
1 parent 4afe742
commit 02c646e
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/kuka_driver_examples/eci_demo/src/MoveitBasicPlannersExample.cpp b/kuka_driver_examples/eci_demo/src/MoveitBasicPlannersExample.cpp
@@ -76,6 +76,8 @@ int main(int argc, char * argv[])
   example_node->addBreakPoint();
 
   // Try moving back with Pilz LIN
+  example_node->moveGroupInterface()->setMaxVelocityScalingFactor(0.1);
+  example_node->moveGroupInterface()->setMaxAccelerationScalingFactor(0.1);
   planned_trajectory = example_node->planToPoint(
     standing_pose, "pilz_industrial_motion_planner",
     "LIN");