From 3e27bb83e607c945e3547972ff4efd361a977e82 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 14 Oct 2022 00:37:25 +0900 Subject: [PATCH] inclease collision check for arm_with_torso --- 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