Update adapter names

moveit · Nov 9, 2023 · 521b251 · 521b251
1 parent 0b8e413
commit 521b251
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Showing 7 changed files with 46 additions and 41 deletions.
diff --git a/dual_arm_panda_moveit_config/config/ompl_planning.yaml b/dual_arm_panda_moveit_config/config/ompl_planning.yaml
@@ -1,14 +1,15 @@
 planning_plugin: ompl_interface/OMPLPlanner
 # To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below
-# - default_planner_request_adapters/AddRuckigTrajectorySmoothing
+# - default_planning_request_adapters/AddRuckigTrajectorySmoothing
 request_adapters:
-  - default_planner_request_adapters/ResolveConstraintFrames
-  - default_planner_request_adapters/FixWorkspaceBounds
-  - default_planner_request_adapters/FixStartStateBounds
-  - default_planner_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 response_adapters:
-  - default_planner_response_adapters/AddTimeOptimalParameterization
-start_state_max_bounds_error: 0.1
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 planner_configs:
   SBLkConfigDefault:
     type: geometric::SBL

diff --git a/fanuc_moveit_config/config/chomp_planning.yaml b/fanuc_moveit_config/config/chomp_planning.yaml
@@ -1,12 +1,13 @@
 planning_plugin: chomp_interface/CHOMPPlanner
 request_adapters:
-  - default_planner_request_adapters/ResolveConstraintFrames
-  - default_planner_request_adapters/FixWorkspaceBounds
-  - default_planner_request_adapters/FixStartStateBounds
-  - default_planner_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 response_adapters:
-  - default_planner_response_adapters/AddTimeOptimalParameterization
-start_state_max_bounds_error: 0.1
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 planning_time_limit: 10.0
 max_iterations: 200
 max_iterations_after_collision_free: 5

diff --git a/fanuc_moveit_config/config/ompl_planning.yaml b/fanuc_moveit_config/config/ompl_planning.yaml
@@ -1,14 +1,15 @@
 planning_plugin: ompl_interface/OMPLPlanner
 # To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below
-# - default_planner_request_adapters/AddRuckigTrajectorySmoothing
+# - default_planning_request_adapters/AddRuckigTrajectorySmoothing
 request_adapters:
-  - default_planner_request_adapters/ResolveConstraintFrames
-  - default_planner_request_adapters/FixWorkspaceBounds
-  - default_planner_request_adapters/FixStartStateBounds
-  - default_planner_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 response_adapters:
-  - default_planner_response_adapters/AddTimeOptimalParameterization
-start_state_max_bounds_error: 0.1
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 planner_configs:
   AnytimePathShortening:
     type: geometric::AnytimePathShortening

diff --git a/panda_moveit_config/config/chomp_planning.yaml b/panda_moveit_config/config/chomp_planning.yaml
@@ -1,12 +1,11 @@
 planning_plugin: chomp_interface/CHOMPPlanner
 request_adapters:
-  - default_planner_request_adapters/ResolveConstraintFrames
-  - default_planner_request_adapters/FixWorkspaceBounds
-  - default_planner_request_adapters/FixStartStateBounds
-  - default_planner_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 response_adapters:
-  - default_planner_response_adapters/AddTimeOptimalParameterization
-start_state_max_bounds_error: 0.1
+  - default_planning_response_adapters/AddTimeOptimalParameterization
 planning_time_limit: 10.0
 max_iterations: 200
 max_iterations_after_collision_free: 5

diff --git a/panda_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml
@@ -1,14 +1,15 @@
 planning_plugin: ompl_interface/OMPLPlanner
 # To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
-# default_planner_request_adapters/AddRuckigTrajectorySmoothing
+# default_planning_request_adapters/AddRuckigTrajectorySmoothing
 request_adapters:
-  - default_planner_request_adapters/ResolveConstraintFrames
-  - default_planner_request_adapters/FixWorkspaceBounds
-  - default_planner_request_adapters/FixStartStateBounds
-  - default_planner_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 response_adapters:
-  - default_planner_response_adapters/AddTimeOptimalParameterization
-start_state_max_bounds_error: 0.1
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 planner_configs:
   APSConfigDefault:
     type: geometric::AnytimePathShortening

diff --git a/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
@@ -1,8 +1,8 @@
 planning_plugin: pilz_industrial_motion_planner/CommandPlanner
 request_adapters:
-  - default_planner_request_adapters/FixWorkspaceBounds
-  - default_planner_request_adapters/FixStartStateBounds
-  - default_planner_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 
 default_planner_config: PTP
 capabilities: >-

diff --git a/panda_moveit_config/config/stomp_planning.yaml b/panda_moveit_config/config/stomp_planning.yaml
@@ -1,11 +1,13 @@
 planning_plugin: stomp_moveit/StompPlanner
 request_adapters:
-  - default_planner_request_adapters/ResolveConstraintFrames
-  - default_planner_request_adapters/FixWorkspaceBounds
-  - default_planner_request_adapters/FixStartStateBounds
-  - default_planner_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 response_adapters:
-  - default_planner_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 
 stomp_moveit:
   num_timesteps: 60