Remove outdated config artifacts (Kinovarobotics#198)

sjahr · web-flow · commit e0456e31e3df · 2023-12-06T22:59:50.000-04:00
diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
@@ -1,6 +1,4 @@
 planning_plugin: ompl_interface/OMPLPlanner
-start_state_max_bounds_error: 0.1
-jiggle_fraction: 0.05
 request_adapters:
   - default_planning_request_adapters/ResolveConstraintFrames
   - default_planning_request_adapters/CheckStartStateBounds
diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
@@ -1,6 +1,4 @@
 planning_plugin: ompl_interface/OMPLPlanner
-start_state_max_bounds_error: 0.1
-jiggle_fraction: 0.05
 request_adapters:
   - default_planning_request_adapters/ResolveConstraintFrames
   - default_planning_request_adapters/CheckStartStateBounds
diff --git a/kortex_moveit_config/launch/kortex_moveit.launch.py b/kortex_moveit_config/launch/kortex_moveit.launch.py
@@ -212,8 +212,17 @@ def generate_launch_description():
     ompl_planning_pipeline_config = {
         "move_group": {
             "planning_plugin": "ompl_interface/OMPLPlanner",
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
-            "start_state_max_bounds_error": 0.1,
+            "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",
+            ],
         }
     }
 
