From c951f029fd79e6f0498e465a66d5784ef92f6f51 Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Tue, 12 Dec 2023 09:37:03 +0100 Subject: [PATCH] Update stomp planning config.yaml --- .../config/moveit/stomp_planning.yaml | 20 +++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/src/picknik_ur_base_config/config/moveit/stomp_planning.yaml b/src/picknik_ur_base_config/config/moveit/stomp_planning.yaml index 47d31150..dc6fd444 100644 --- a/src/picknik_ur_base_config/config/moveit/stomp_planning.yaml +++ b/src/picknik_ur_base_config/config/moveit/stomp_planning.yaml @@ -1,11 +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