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Update planner_plugin parameters #199

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Merged
dyackzan merged 2 commits into from
Dec 7, 2023
Merged

Update planner_plugin parameters #199

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68ec24b
Update planner_plugin parameters
sjahr Dec 6, 2023
4eed96f
Merge branch 'main' into pr-update_planner_plugin_parameter
sjahr Dec 7, 2023
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3 changes: 2 additions & 1 deletion kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
planning_plugin: ompl_interface/OMPLPlanner
planning_plugins:
- ompl_interface/OMPLPlanner
request_adapters:
- default_planning_request_adapters/ResolveConstraintFrames
- default_planning_request_adapters/CheckStartStateBounds
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3 changes: 2 additions & 1 deletion kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
planning_plugin: ompl_interface/OMPLPlanner
planning_plugins:
- ompl_interface/OMPLPlanner
request_adapters:
- default_planning_request_adapters/ResolveConstraintFrames
- default_planning_request_adapters/CheckStartStateBounds
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2 changes: 1 addition & 1 deletion kortex_moveit_config/launch/kortex_moveit.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -211,7 +211,7 @@ def generate_launch_description():
# Planning Configuration
ompl_planning_pipeline_config = {
"move_group": {
"planning_plugin": "ompl_interface/OMPLPlanner",
"planning_plugins": ["ompl_interface/OMPLPlanner"],
"request_adapters": [
"default_planning_request_adapters/ResolveConstraintFrames",
"default_planning_request_adapters/ValidateWorkspaceBounds",
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