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Commit a30fc7af authored by mike lautman's avatar mike lautman
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adding trajopt to list of planner_configs

parent bd3c1ef9
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config/ompl_planning.yaml
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− 8
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...@@ -120,6 +120,9 @@ planner_configs: ...@@ -120,6 +120,9 @@ planner_configs:
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 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 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000 max_failures: 5000 # maximum consecutive failure limit. default: 5000
TrajOptDefault:
type: geometric::TrajOpt
panda_arm: panda_arm:
planner_configs: planner_configs:
- SBLkConfigDefault - SBLkConfigDefault
...@@ -145,6 +148,7 @@ panda_arm: ...@@ -145,6 +148,7 @@ panda_arm:
- LazyPRMstarkConfigDefault - LazyPRMstarkConfigDefault
- SPARSkConfigDefault - SPARSkConfigDefault
- SPARStwokConfigDefault - SPARStwokConfigDefault
- TrajOptDefault
hand: hand:
planner_configs: planner_configs:
- SBLkConfigDefault - SBLkConfigDefault
...@@ -170,3 +174,4 @@ hand: ...@@ -170,3 +174,4 @@ hand:
- LazyPRMstarkConfigDefault - LazyPRMstarkConfigDefault
- SPARSkConfigDefault - SPARSkConfigDefault
- SPARStwokConfigDefault - SPARStwokConfigDefault
- TrajOptDefault
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