Update planning pipeline configurations (Kinovarobotics#187)

Author: sea-bass

kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml

@@ -1,10 +1,10 @@
 planning_plugin: ompl_interface/OMPLPlanner
 start_state_max_bounds_error: 0.1
 jiggle_fraction: 0.05
-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
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization

kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml

@@ -1,10 +1,10 @@
 planning_plugin: ompl_interface/OMPLPlanner
 start_state_max_bounds_error: 0.1
 jiggle_fraction: 0.05
-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
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization