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