Unexpected Moveit Speed Difference

asked 2021-07-09 21:10:11 -0500

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I am using a Moveit for motion planning with the Universal Robot 3 e-series. I noticed movements that send the joints to specific locations happen slower than movements that just request the tcp goes to a specific point. I define joint speeds in my moveit package (joint_limits.yaml) but not anywhere during runtime.

Why might the two different motion requests result in different joint speeds?

group = moveit_commander.MoveGroupCommander("arm")


gorup.set_pose_target(pose_target, "grasp_point")

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