From e60dc0b67dbc25e442b25190ab3fd7532a159804 Mon Sep 17 00:00:00 2001
From: Thore Goll <thore.goll@franka.de>
Date: Wed, 9 Feb 2022 10:00:12 +0100
Subject: [PATCH] Use OMPL config for both arm groups, panda_arm + manipulator
---
config/ompl_planning.yaml | 31 ++-----------------------------
1 file changed, 2 insertions(+), 29 deletions(-)
diff --git a/config/ompl_planning.yaml b/config/ompl_planning.yaml
index a0c70c2..b556110 100644
--- a/config/ompl_planning.yaml
+++ b/config/ompl_planning.yaml
@@ -127,7 +127,7 @@ planner_configs:
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
-panda_arm:
+panda_arm: &arm_config
planner_configs:
- AnytimePathShortening
- SBL
@@ -155,6 +155,7 @@ panda_arm:
- SPARStwo
projection_evaluator: joints(panda_joint1,panda_joint2)
longest_valid_segment_fraction: 0.005
+manipulator: *arm_config
hand:
planner_configs:
- AnytimePathShortening
@@ -181,31 +182,3 @@ hand:
- LazyPRMstar
- SPARS
- SPARStwo
-panda_arm_hand:
- planner_configs:
- - AnytimePathShortening
- - SBL
- - EST
- - LBKPIECE
- - BKPIECE
- - KPIECE
- - RRT
- - RRTConnect
- - RRTstar
- - TRRT
- - PRM
- - PRMstar
- - FMT
- - BFMT
- - PDST
- - STRIDE
- - BiTRRT
- - LBTRRT
- - BiEST
- - ProjEST
- - LazyPRM
- - LazyPRMstar
- - SPARS
- - SPARStwo
- projection_evaluator: joints(panda_joint1,panda_joint2)
- longest_valid_segment_fraction: 0.005
--
GitLab