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Update planner plugin configs #191

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merged 1 commit into from
Dec 6, 2023
Merged

Update planner plugin configs #191

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3 changes: 2 additions & 1 deletion dual_arm_panda_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
planning_plugin: ompl_interface/OMPLPlanner
planning_plugins:
- ompl_interface/OMPLPlanner
# To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below
# - default_planning_request_adapters/AddRuckigTrajectorySmoothing
request_adapters:
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4 changes: 3 additions & 1 deletion fanuc_moveit_config/config/chomp_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
planning_plugin: chomp_interface/CHOMPPlanner
planning_plugins:
- chomp_interface/CHOMPPlanner
# 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
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3 changes: 2 additions & 1 deletion fanuc_moveit_config/config/ompl_planning.yaml
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
planning_plugin: ompl_interface/OMPLPlanner
planning_plugins:
- ompl_interface/OMPLPlanner
# To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below
# - default_planning_request_adapters/AddRuckigTrajectorySmoothing
request_adapters:
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4 changes: 3 additions & 1 deletion panda_moveit_config/config/chomp_planning.yaml
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
planning_plugin: chomp_interface/CHOMPPlanner
planning_plugins:
- chomp_interface/CHOMPPlanner
# 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
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3 changes: 2 additions & 1 deletion panda_moveit_config/config/ompl_planning.yaml
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
planning_plugin: ompl_interface/OMPLPlanner
planning_plugins:
- ompl_interface/OMPLPlanner
# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
# default_planning_request_adapters/AddRuckigTrajectorySmoothing
request_adapters:
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4 changes: 3 additions & 1 deletion panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
planning_plugin: pilz_industrial_motion_planner/CommandPlanner
planning_plugins:
- pilz_industrial_motion_planner/CommandPlanner
# 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/ValidateWorkspaceBounds
- default_planning_request_adapters/CheckStartStateBounds
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4 changes: 3 additions & 1 deletion panda_moveit_config/config/stomp_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
planning_plugin: stomp_moveit/StompPlanner
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
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