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update enforce_joint_model_state_space in config #157

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update enforce_joint_model_state_space in config #157

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0ed3959
update enforce_joint_model_state_space in config
yifeifang May 12, 2021
ecf8016
update ompl_planning with enforce joint model state space set to true
yifeifang May 13, 2021
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8 changes: 8 additions & 0 deletions fetch_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,10 @@ arm:
- PRMstarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.005
# this will enforce JointModelStateSpaceFactory for problem representing see
# https://github.com/ros-planning/moveit/pull/541 for detail
# basically this would allow path constraints in moveit_commander to work properly
enforce_joint_model_state_space: true
arm_with_torso:
planner_configs:
- SBLkConfigDefault
Expand All @@ -51,6 +55,10 @@ arm_with_torso:
- PRMstarkConfigDefault
projection_evaluator: joints(torso_lift_joint,shoulder_pan_joint)
longest_valid_segment_fraction: 0.05
# this will enforce JointModelStateSpaceFactory for problem representing see
# https://github.com/ros-planning/moveit/pull/541 for detail
# basically this would allow path constraints in moveit_commander to work properly
enforce_joint_model_state_space: true
gripper:
planner_configs:
- SBLkConfigDefault
Expand Down