From 6ab047532f4030e655cdcc5c6371681c3676d394 Mon Sep 17 00:00:00 2001
From: Mark Moll <mmoll@rice.edu>
Date: Fri, 2 Jul 2021 15:23:52 -0700
Subject: [PATCH] Make collision checking resolution consistent across planning
 groups

---
 fetch_moveit_config/config/ompl_planning.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fetch_moveit_config/config/ompl_planning.yaml b/fetch_moveit_config/config/ompl_planning.yaml
index 6910e9f8..56274050 100644
--- a/fetch_moveit_config/config/ompl_planning.yaml
+++ b/fetch_moveit_config/config/ompl_planning.yaml
@@ -50,7 +50,7 @@ arm_with_torso:
     - PRMkConfigDefault
     - PRMstarkConfigDefault
   projection_evaluator: joints(torso_lift_joint,shoulder_pan_joint)
-  longest_valid_segment_fraction: 0.05
+  longest_valid_segment_fraction: 0.005
 gripper:
   planner_configs:
     - SBLkConfigDefault