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Fixed bug when getting DOF resolutions
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src/prpy/planning/workspace.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -192,7 +192,7 @@ def PlanWorkspacePath(self, robot, traj, timelimit=5.0,
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step = abs(qnew - qcurr)
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if (max(step) < min_step) and qtraj:
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raise PlanningError('Not making progress.')
195-
infeasible_step = any(step > robot.GetDOFResolutions())
195+
infeasible_step = any(step > robot.GetActiveDOFResolutions())
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if infeasible_step:
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# Backtrack and try half the step
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dt = dt/2.0

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