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[baxter_moveit_config] use AddTimeOptimalParameterization #78

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[baxter_moveit_config] use AddTimeOptimalParameterization #78

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2 changes: 1 addition & 1 deletion baxter/baxter_moveit_config/launch/chomp_planning_pipeline.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/AddTimeParameterization" />
default_planner_request_adapters/AddTimeOptimalParameterization" />

<arg name="start_state_max_bounds_error" value="0.1" />

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2 changes: 1 addition & 1 deletion baxter/baxter_moveit_config/launch/ompl_planning_pipeline.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/AddTimeParameterization" />
default_planner_request_adapters/AddTimeOptimalParameterization" />

<arg name="start_state_max_bounds_error" value="0.1" />

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