Update dynamic parameters

Signed-off-by: Paul Gesel <[email protected]>

src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml

@@ -15,7 +15,7 @@ joint_limits:
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_acceleration: 0.1
+    max_acceleration: 10.0
     max_effort: 150.0
     max_position: 2.9
     max_velocity: 0.175
@@ -25,7 +25,7 @@ joint_limits:
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_acceleration: !degrees 90.0
+    max_acceleration: !degrees 180.0
     max_effort: 150.0
     max_position: !degrees  180.0
     max_velocity: !degrees  30.0
@@ -35,7 +35,7 @@ joint_limits:
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_acceleration: !degrees 90.0
+    max_acceleration: !degrees 180.0
     max_effort: 150.0
     max_position: !degrees  90.0
     max_velocity: !degrees  30.0
@@ -45,7 +45,7 @@ joint_limits:
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_acceleration: !degrees 90.0
+    max_acceleration: !degrees 180.0
     max_effort: 150.0
     # we artificially limit this joint to half its actual joint position limit
     # to avoid (MoveIt/OMPL) planning problems, as due to the physical
@@ -65,7 +65,7 @@ joint_limits:
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_acceleration: !degrees 90.0
+    max_acceleration: !degrees 180.0
     max_effort: 28.0
     max_position: !degrees  180.0
     max_velocity: !degrees  60.0

src/arm_on_rail_sim/description/ur5e.xml

@@ -11,8 +11,8 @@
         gaintype="fixed"
         biastype="affine"
         ctrlrange="-6.2831 6.2831"
-        gainprm="2000"
-        biasprm="0 -2000 -400"
+        gainprm="20000"
+        biasprm="0 -20000 -1000"
         forcerange="-150 150"
       />
       <default class="size3">
@@ -22,7 +22,11 @@
         </default>
       </default>
       <default class="size1">
-        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+        <general
+          gainprm="20000"
+          biasprm="0 -20000 -1000"
+          forcerange="-150 150"
+        />
       </default>
       <default class="visual">
         <geom type="mesh" contype="0" conaffinity="0" group="2" />