Increase velocity scaling

scripts/hw_node.py

@@ -49,7 +49,7 @@ class HwNode:
 
         # Move to the initial configuration
         self.switch_to_joint_trajectory_controller()
-        self.moveit.goto(q0)
+        self.moveit.goto(q0, velocity_scaling=0.2)
         self.gripper.move(0.08)
 
         return ResetResponse(to_bbox_msg(bbox))

scripts/run.py

@@ -31,7 +31,7 @@ def main():
         if args.wait_for_input:
             controller.gripper.move(0.08)
             controller.switch_to_joint_trajectory_control()
-            controller.moveit.goto("ready")
+            controller.moveit.goto("ready", velocity_scaling=0.2)
             i = input("Run policy? [y/n] ")
             if i != "y":
                 exit()