Actually fix the configs now

Kinovarobotics · Jul 25, 2024 · f74b64c · f74b64c
1 parent f419fe4
commit f74b64c
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Showing 2 changed files with 18 additions and 14 deletions.
diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
@@ -1,11 +1,12 @@
-planning_plugin: ompl_interface/OMPLPlanner
 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
+  - 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
 start_state_max_bounds_error: 0.1
 planner_configs:
   SBLkConfigDefault:

diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
@@ -1,11 +1,14 @@
-planning_plugin: ompl_interface/OMPLPlanner
+planning_plugins:
+  - ompl_interface/OMPLPlanner
 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
+  - 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
 start_state_max_bounds_error: 0.1
 planner_configs:
   SBLkConfigDefault: