From a7f05f9354b17c81784e25f992d01235c6205dae Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Mon, 25 Oct 2021 10:47:01 +0200 Subject: [PATCH] Switch to RRTStar --- src/active_grasp/controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py index 1497fd3..404accd 100644 --- a/src/active_grasp/controller.py +++ b/src/active_grasp/controller.py @@ -51,7 +51,7 @@ class GraspController: def init_moveit(self): self.moveit = MoveItClient("panda_arm") rospy.sleep(1.0) # Wait for connections to be established. - self.moveit.move_group.set_planner_id("PRMstarkConfigDefault") + self.moveit.move_group.set_planner_id("RRTstarkConfigDefault") # self.moveit.move_group.set_num_planning_attempts(10) self.moveit.move_group.set_planning_time(6.0)