An issue was observed where in a low-resource machine (or VM) the motion planning would time out very frequently and so this PR makes some minor configuration tweaks to improve the motion planner success rate.
Furthermore, it removes some hard-coded parameters and uses the values loaded by the application.
An issue was observed where in a low-resource machine (or VM) the motion planning would time out very frequently and so this PR makes some minor configuration tweaks to improve the motion planner success rate. Furthermore, it removes some hard-coded parameters and uses the values loaded by the application.