update looping and margin of error for lcoation detection

ros2rag.goal/src/main/jastadd/Computation.jrag

@@ -90,12 +90,12 @@ aspect Computation {
           .setOrientation(getOrientation())
           .setMode(plan.TrajectoryOuterClass.Trajectory.PlanningMode.FLUID)
           .build())
-      .setLoop(true)
+      .setLoop(false)
       .build();
   eq WorkStep.nextTrajectory() = getPredecessor().nextTrajectory();
   eq FinishedStep.nextTrajectory() = getPredecessor().nextTrajectory();
 
-  private static final double MoveToStep.DELTA = 0.1;
+  private static final double MoveToStep.DELTA = 0.005;
   private boolean MoveToStep.isNear(plan.TrajectoryOuterClass.Trajectory.Position one, plan.TrajectoryOuterClass.Trajectory.Position other) {
     return Math.abs(one.getX() - other.getX()) < DELTA &&
       Math.abs(one.getY() - other.getY()) < DELTA &&

ros2rag.starter/src/main/jastadd/Computation.jrag

@@ -23,6 +23,6 @@ aspect Computation {
   }
 
   syn double RobotArm.getAppropriateSpeed() {
-    return isInSafetyZone() ? 0.4d : 1.0d;
+    return isInSafetyZone() ? 0.2d : 0.9d;
   }
 }