move3d » move4d

I'm unable to plan motion with RRT using multi_localpath steering method. I'm guessing these are related.

For now, to plan with the PR2, one need to deactivate the IK constraint + the multilocalpath
e.g. by changing the p3d files like following:

 #DO NOT REMOVE THE FOLLOWING LINE TO USE MULTILOCALPATH
-p3d_set_robot_steering_method Multi-Localpath
+#p3d_set_robot_steering_method Multi-Localpath
+
+#DISABLING MULTILOCALPATH
+p3d_set_robot_steering_method Linear