Reduce longest valid segment fraction to accomodate non-limited versi…

…on of the UR5 (#266)
ros-industrial · Sep 12, 2017 · e0f69fd · e0f69fd
1 parent b2be658
commit e0f69fd
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/ur10_moveit_config/config/ompl_planning.yaml b/ur10_moveit_config/config/ompl_planning.yaml
@@ -67,7 +67,7 @@ manipulator:
     - PRMstarkConfigDefault
   ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
   #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.05
+  longest_valid_segment_fraction: 0.01
 endeffector:
   planner_configs:
     - SBLkConfigDefault

diff --git a/ur3_moveit_config/config/ompl_planning.yaml b/ur3_moveit_config/config/ompl_planning.yaml
@@ -67,7 +67,7 @@ manipulator:
     - PRMstarkConfigDefault
   ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
   #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.05
+  longest_valid_segment_fraction: 0.01
 endeffector:
   planner_configs:
     - SBLkConfigDefault

diff --git a/ur5_moveit_config/config/ompl_planning.yaml b/ur5_moveit_config/config/ompl_planning.yaml
@@ -67,7 +67,7 @@ manipulator:
     - PRMstarkConfigDefault
   ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
   #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.05
+  longest_valid_segment_fraction: 0.01
 endeffector:
   planner_configs:
     - SBLkConfigDefault