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personalrobotics / or_trajopt

OpenRAVE plugin to expose TrajOpt code as an OpenRAVE planner
BSD 3-Clause "New" or "Revised" License
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Disable PlanToEndEffectorOffset by default #11

Closed mkoval closed 9 years ago

mkoval commented 9 years ago

This pull request disables PlanToEndEffectorOffset by default unless you explicitly pass the allow_untested flag. This came out of the discussion in https://github.com/personalrobotics/prpy/pull/213, where we discovered that this method can return trajectories that are in collision and/or violate constraints.

psigen commented 9 years ago

This is superseded by https://github.com/personalrobotics/or_trajopt/pull/14, which simply removed the entire function because it doesn't work anyway. I prefer this to adding unnecessary flags.