improved joint space planning

2024-05-30 14:42:22 -07:00
parent 3bfed9d773
commit 0c51dd2da8
28 changed files with 1135 additions and 213 deletions
--- a/examples/motion_gen_example.py
+++ b/examples/motion_gen_example.py
@@ -134,7 +134,7 @@ def demo_motion_gen_simple():
    )

    result = motion_gen.plan_single(start_state, goal_pose, MotionGenPlanConfig(max_attempts=1))
-    traj = result.get_interpolated_plan()  # result.optimized_dt has the dt between timesteps
+    traj = result.get_interpolated_plan()  # result.interpolation_dt has the dt between timesteps
    print("Trajectory Generated: ", result.success)