[Sebastian Jahr] Benchmarking to evaluate what should be default planning pipeline, consider parallel planner. Now it is RRT Connect, which is most likely to produce solutions, however the paths are crazy because it lacks optimization.
In this specific case CHOMP reliably produces the best solutions. This is one of the case where using parallel planner gives you the advantage of having good plans from CHOMP when it works. CHOMP does not always produce the best plans.
Considering solving a variety of problems, the parallel planner gives better default behavior. It won’t improve the path length of really hard problems where RRT is the only planner that succeeds but in cases where the planners that produce nicer plans succeed you can get the benefit of them with the fallback to RRT when they fail.
One downside to this implementation is that we always take as long as the longest planner and CHOMP consistently is the longest planner. Maybe we should consider not including it in the parallel set.
[Mark] We should consider different stopping criterias.