From 8675b8e641f0fb74c18394064c10a93bbf8d83e9 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 14 Oct 2022 00:24:42 +0900 Subject: [PATCH] set enforce_joint_model_state_space true --- fetch_moveit_config/config/ompl_planning.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/fetch_moveit_config/config/ompl_planning.yaml b/fetch_moveit_config/config/ompl_planning.yaml index 6910e9f8..9af2709c 100644 --- a/fetch_moveit_config/config/ompl_planning.yaml +++ b/fetch_moveit_config/config/ompl_planning.yaml @@ -36,6 +36,7 @@ arm: - PRMstarkConfigDefault projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) longest_valid_segment_fraction: 0.005 + enforce_joint_model_state_space: true arm_with_torso: planner_configs: - SBLkConfigDefault @@ -51,6 +52,7 @@ arm_with_torso: - PRMstarkConfigDefault projection_evaluator: joints(torso_lift_joint,shoulder_pan_joint) longest_valid_segment_fraction: 0.05 + enforce_joint_model_state_space: true gripper: planner_configs: - SBLkConfigDefault