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[fetch_moveit_config] set enforce_joint_model_state_space true #163

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[fetch_moveit_config] set enforce_joint_model_state_space true #163

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2 changes: 2 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 +36,7 @@ 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
Expand All @@ -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
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