Update planner configs (#191)

moveit · Dec 6, 2023 · 583e8e8 · 583e8e8
1 parent 7162dcd
commit 583e8e8
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Showing 7 changed files with 18 additions and 7 deletions.
diff --git a/dual_arm_panda_moveit_config/config/ompl_planning.yaml b/dual_arm_panda_moveit_config/config/ompl_planning.yaml
@@ -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:

diff --git a/fanuc_moveit_config/config/chomp_planning.yaml b/fanuc_moveit_config/config/chomp_planning.yaml
@@ -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

diff --git a/fanuc_moveit_config/config/ompl_planning.yaml b/fanuc_moveit_config/config/ompl_planning.yaml
@@ -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:

diff --git a/panda_moveit_config/config/chomp_planning.yaml b/panda_moveit_config/config/chomp_planning.yaml
@@ -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

diff --git a/panda_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml
@@ -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:

diff --git a/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
@@ -1,4 +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

diff --git a/panda_moveit_config/config/stomp_planning.yaml b/panda_moveit_config/config/stomp_planning.yaml
@@ -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