Enable OMPL Constrained Planning (#29)

AndrejOrsula · Jan 5, 2024 · 8e5c6fd · 8e5c6fd
1 parent 4ec49eb
commit 8e5c6fd
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/panda_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml
@@ -124,6 +124,8 @@ planner_configs:
     type: geometric::TrajOpt
 
 arm:
+  enforce_constrained_state_space: true
+  projection_evaluator: joints(panda_joint1,panda_joint2)
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault