rename slik -> pose_ik

marioprats · marioprats · commit 1bb331bfbddd · 2024-12-05T16:38:57.000+01:00
diff --git a/src/fanuc_sim/config/config.yaml b/src/fanuc_sim/config/config.yaml
@@ -69,13 +69,13 @@ moveit_params:
     path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
   kinematics:
     package: "fanuc_sim"
-    path: "config/moveit/slik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "fanuc_sim"
     path: "config/moveit/servo.yaml"
   servo_kinematics:
     package: "fanuc_sim"
-    path: "config/moveit/slik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "fanuc_sim"
     path: "config/moveit/joint_limits.yaml"
diff --git a/src/fanuc_sim/config/moveit/pose_ik_distance.yaml b/src/fanuc_sim/config/moveit/pose_ik_distance.yaml
@@ -1,5 +1,5 @@
 manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
diff --git a/src/fanuc_sim/config/moveit/pose_ik_speed.yaml b/src/fanuc_sim/config/moveit/pose_ik_speed.yaml
@@ -1,4 +1,4 @@
 manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "first_found"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml
@@ -76,7 +76,7 @@ moveit_params:
     path: "config/moveit/stomp_planning.yaml"
   kinematics:
     package: "kinova_gen3_base_config"
-    path: "config/moveit/slik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "kinova_gen3_base_config"
     path: "config/moveit/kinova_gen3_servo.yaml"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml
@@ -1,5 +1,5 @@
 manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml
@@ -87,7 +87,7 @@ moveit_params:
     path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
   kinematics:
     package: "kinova_gen3_mujoco_config"
-    path: "config/moveit/slik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "kinova_gen3_mujoco_config"
     path: "config/moveit/kinova_gen3_servo.yaml"
@@ -96,7 +96,7 @@ moveit_params:
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
     package: "kinova_gen3_mujoco_config"
-    path: "config/moveit/slik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "kinova_gen3_mujoco_config"
     path: "config/moveit/joint_limits.yaml"
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_distance.yaml
@@ -1,5 +1,5 @@
 manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_speed.yaml
@@ -1,4 +1,4 @@
 manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "first_found"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
@@ -102,7 +102,7 @@ moveit_params:
     path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
   kinematics:
     package: "picknik_ur_base_config"
-    path: "config/moveit/slik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "picknik_ur_base_config"
     path: "config/moveit/ur_servo.yaml"
@@ -111,7 +111,7 @@ moveit_params:
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
     package: "picknik_ur_base_config"
-    path: "config/moveit/slik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "picknik_ur_base_config"
     path: "config/moveit/joint_limits.yaml"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_distance.yaml
@@ -1,5 +1,5 @@
 manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_speed.yaml
@@ -1,4 +1,4 @@
 manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "first_found"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/config.yaml
@@ -92,7 +92,7 @@ moveit_params:
     path: "config/moveit/stomp_planning.yaml"
   kinematics:
     package: "picknik_ur_multi_arm_config"
-    path: "config/moveit/slik_kinematics_distance.yaml"
+    path: "config/moveit/pose_ik_distance.yaml"
   servo:
     package: "picknik_ur_multi_arm_config"
     path: "config/moveit/multi_ur_servo.yaml"
@@ -101,7 +101,7 @@ moveit_params:
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
     package: "picknik_ur_multi_arm_config"
-    path: "config/moveit/slik_kinematics_speed.yaml"
+    path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
     package: "picknik_ur_multi_arm_config"
     path: "config/moveit/multi_arm_joint_limits.yaml"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_distance.yaml
@@ -1,20 +1,20 @@
 first_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
 second_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
 third_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
 fourth_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
diff --git a/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_speed.yaml
@@ -1,16 +1,16 @@
 first_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "first_found"
 second_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "first_found"
 third_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "first_found"
 fourth_manipulator:
-  kinematics_solver: slik_kinematics_plugin/SlikKinematicsPlugin
+  kinematics_solver: pose_ik_plugin/PoseIKPlugin
   target_tolerance: 0.001
   solve_mode: "first_found"
