Merge pull request #15 from PickNikRobotics/update-planning-configs

Update planning config parameters
PickNikRobotics · Dec 19, 2023 · bcf2844 · bcf2844
2 parents 2fda020 + db53974
commit bcf2844
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Showing 3 changed files with 14 additions and 11 deletions.
diff --git a/src/external_dependencies/ros2_kortex b/src/external_dependencies/ros2_kortex
diff --git a/src/external_dependencies/ros2_robotiq_gripper b/src/external_dependencies/ros2_robotiq_gripper
diff --git a/src/kinova_gen3_base_config/config/moveit/stomp_planning.yaml b/src/kinova_gen3_base_config/config/moveit/stomp_planning.yaml
@@ -1,12 +1,15 @@
-planning_plugin: stomp_moveit/StompPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeOptimalParameterization
-  default_planner_request_adapters/ResolveConstraintFrames
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
-
+planning_plugins:
+  - stomp_moveit/StompPlanner
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 stomp_moveit:
   num_timesteps: 60
   num_iterations: 40