[fetch_moveit_config] set enforce_joint_model_state_space true #163
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This was referenced Oct 19, 2022
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Hi @knorth55 thanks for the PR! I only just saw it now, but will plan to look at your links to understand the (nice and small) change. |
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fetch arm collides with base or torso when
path constraintsis given toMotionPlanRequest.This is because Moveit computes in
cartesian model state spacewhenpath constraintsis given,and it causes joint jump near singularity point.
With this joint jump, fetch's arm collides with its base or torso because fetch's arm is quite close to them.
Good case
Screencast.2022-10-13.23.06.20.mp4
Bad case
Screencast.2022-10-13.23.09.34.mp4
In this PR, I set
enforce_joint_model_state_spacetrueand enforce to usejoint model state space.This change may needs longer planning time but it is safe.
related:
moveit/moveit#541
moveit/moveit#562
moveit/moveit#2273