This map was already used in your code [here](https://github.com/ros-planning/moveit_planners/blob/groovy-devel/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h#L174) and elsewhere. Its been a while but I'm pretty sure the key was the planner instance, such as ``right_arm_and_torso/SBLkConfigDefault`` - right?