Cartesian speed

[albic98]

How do can I change Cartesian speed for Franka Emika with this script? I tried changing "max_cartesian_speed" parameter, but it does not change anything. Can you help?

[AndrejOrsula]

Hello @albic98,

That sounds like a bug. I think this might be because the functionality is simply not implemented for execute_via_moveit=False. You could try with execute_via_moveit=True and see if it changes anything.

Alternatively, you could try taking a look at moveit2.py and see how @max_cartesian_speed.setter needs to be modified to fix this. PRs are welcome. 🙂

[albic98]

I tried switching execute_via_moveit to True, but it keeps moving in joint path, not cartesian. Also I tried everything with the setter, but still no solution.

[AndrejOrsula]

Addressed by #53