Allow passing object sampling tsr to place function #98
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| @@ -225,7 +225,7 @@ def __init__(self, left_arm_sim, right_arm_sim, right_ft_sim, | |||
| TSRPlanner(delegate_planner=actual_planner), | |||
| self.cbirrt_planner), | |||
| # Special purpose meta-planner. | |||
| NamedPlanner(delegate_planner=actual_planner), | |||
| NamedPlanner(delegate_planner=Sequence(actual_planner, self.cbirrt_planner)), | |||
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What is the purpose of this change?
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This allows calls to PlanToNamedConfiguration to use a randomized planner (in this case CBiRRT) when snap planner and optimizers have failed. We are seeing that when planning out of tight quarters near objects using CHOMP the resulting trajectory fails to get pushed out of collision. I think this change is important, especially if a user has only CHOMP installed and not trajopt, but we will pull it out and put it into a separate PR.
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That is reasonable. I am fine with leaving it in this pull request.
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