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Use YAML anchors in reach study config files to simplify #15

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merged 1 commit into from Sep 22, 2023
Merged

Use YAML anchors in reach study config files to simplify #15

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16 changes: 10 additions & 6 deletions demo/config/reach_study.yaml
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@@ -1,3 +1,7 @@
# Anchors
planning_group: &planning_group manipulator
collision_mesh_filename: &collision_mesh_filename package://reach_ros/demo/config/part.ply

optimization:
radius: 0.2
max_steps: 10
Expand All @@ -6,25 +10,25 @@ optimization:
ik_solver:
name: MoveItIKSolver
distance_threshold: 0.0
planning_group: manipulator
collision_mesh_filename: package://reach_ros/demo/config/part.ply
planning_group: *planning_group
collision_mesh_filename: *collision_mesh_filename
touch_links: []

evaluator:
name: MultiplicativeEvaluator
plugins:
- name: ManipulabilityMoveIt
planning_group: manipulator
planning_group: *planning_group
- name: DistancePenaltyMoveIt
planning_group: manipulator
planning_group: *planning_group
distance_threshold: 0.025
exponent: 2
collision_mesh_filename: package://reach_ros/demo/config/part.ply
collision_mesh_filename: *collision_mesh_filename
touch_links: []

display:
name: ROSDisplay
collision_mesh_filename: package://reach_ros/demo/config/part.ply
collision_mesh_filename: *collision_mesh_filename
kinematic_base_frame: base_link
marker_scale: 0.05

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