setting default ik_weights to 1.0 (#346)

c4acf62f · Mike Lautman · G.A. vd. Hoorn · 0e269b81 · c4acf62f
Commit c4acf62f authored 6 years ago by Mike Lautman Committed by G.A. vd. Hoorn 6 years ago
--- a/ur_kinematics/src/ur_moveit_plugin.cpp
+++ b/ur_kinematics/src/ur_moveit_plugin.cpp
@@ -374,10 +374,10 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description,
  } else {
    ik_weights_[0] = 1.0;
    ik_weights_[1] = 1.0;
-    ik_weights_[2] = 0.1;
-    ik_weights_[3] = 0.1;
-    ik_weights_[4] = 0.3;
-    ik_weights_[5] = 0.3;
+    ik_weights_[2] = 1.0;
+    ik_weights_[3] = 1.0;
+    ik_weights_[4] = 1.0;
+    ik_weights_[5] = 1.0;
  }

  active_ = true;