From 99a8af5186fa475945c6656612cdace08420f950 Mon Sep 17 00:00:00 2001 From: JafarAbdi Date: Tue, 31 May 2022 22:37:28 +0000 Subject: [PATCH] Launch files simplifications --- core/test/move_to.launch.py | 6 +----- demo/launch/alternative_path_costs.launch.py | 1 - demo/launch/cartesian.launch.py | 6 +----- demo/launch/demo.launch.py | 1 - demo/launch/fallbacks_move_to.launch.py | 1 - demo/launch/ik_clearance_cost.launch.py | 6 +----- demo/launch/modular.launch.py | 6 +----- demo/launch/pickplace.launch.py | 1 - 8 files changed, 4 insertions(+), 24 deletions(-) diff --git a/core/test/move_to.launch.py b/core/test/move_to.launch.py index 023283bea..5cdb9f345 100644 --- a/core/test/move_to.launch.py +++ b/core/test/move_to.launch.py @@ -13,11 +13,7 @@ @pytest.mark.launch_test def generate_test_description(): - moveit_config = ( - MoveItConfigsBuilder("moveit_resources_panda") - .robot_description(file_path="config/panda.urdf.xacro") - .to_moveit_configs() - ) + moveit_config = MoveItConfigsBuilder("moveit_resources_panda").to_moveit_configs() test_exec = Node( executable=[ diff --git a/demo/launch/alternative_path_costs.launch.py b/demo/launch/alternative_path_costs.launch.py index 4e465dd49..a8b5ac217 100644 --- a/demo/launch/alternative_path_costs.launch.py +++ b/demo/launch/alternative_path_costs.launch.py @@ -6,7 +6,6 @@ def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("moveit_resources_panda") - .robot_description(file_path="config/panda.urdf.xacro") .planning_pipelines(pipelines=["ompl"]) .to_moveit_configs() ) diff --git a/demo/launch/cartesian.launch.py b/demo/launch/cartesian.launch.py index fe2db9ac0..f0a4a4baf 100644 --- a/demo/launch/cartesian.launch.py +++ b/demo/launch/cartesian.launch.py @@ -4,11 +4,7 @@ def generate_launch_description(): - moveit_config = ( - MoveItConfigsBuilder("moveit_resources_panda") - .robot_description(file_path="config/panda.urdf.xacro") - .to_moveit_configs() - ) + moveit_config = MoveItConfigsBuilder("moveit_resources_panda").to_moveit_configs() cartesian_task = Node( package="moveit_task_constructor_demo", diff --git a/demo/launch/demo.launch.py b/demo/launch/demo.launch.py index a757a7d65..07b5a2775 100644 --- a/demo/launch/demo.launch.py +++ b/demo/launch/demo.launch.py @@ -11,7 +11,6 @@ def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("moveit_resources_panda") .planning_pipelines(pipelines=["ompl"]) - .robot_description(file_path="config/panda.urdf.xacro") .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") .to_moveit_configs() ) diff --git a/demo/launch/fallbacks_move_to.launch.py b/demo/launch/fallbacks_move_to.launch.py index 9bd20936b..884a0fd03 100644 --- a/demo/launch/fallbacks_move_to.launch.py +++ b/demo/launch/fallbacks_move_to.launch.py @@ -6,7 +6,6 @@ def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("moveit_resources_panda") - .robot_description(file_path="config/panda.urdf.xacro") .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) diff --git a/demo/launch/ik_clearance_cost.launch.py b/demo/launch/ik_clearance_cost.launch.py index 9d2b826db..a67ae4151 100644 --- a/demo/launch/ik_clearance_cost.launch.py +++ b/demo/launch/ik_clearance_cost.launch.py @@ -4,11 +4,7 @@ def generate_launch_description(): - moveit_config = ( - MoveItConfigsBuilder("moveit_resources_panda") - .robot_description(file_path="config/panda.urdf.xacro") - .to_moveit_configs() - ) + moveit_config = MoveItConfigsBuilder("moveit_resources_panda").to_moveit_configs() cartesian_task = Node( package="moveit_task_constructor_demo", diff --git a/demo/launch/modular.launch.py b/demo/launch/modular.launch.py index a4bd7bb2e..e1d059cff 100644 --- a/demo/launch/modular.launch.py +++ b/demo/launch/modular.launch.py @@ -4,11 +4,7 @@ def generate_launch_description(): - moveit_config = ( - MoveItConfigsBuilder("moveit_resources_panda") - .robot_description(file_path="config/panda.urdf.xacro") - .to_moveit_configs() - ) + moveit_config = MoveItConfigsBuilder("moveit_resources_panda").to_moveit_configs() modular_task = Node( package="moveit_task_constructor_demo", diff --git a/demo/launch/pickplace.launch.py b/demo/launch/pickplace.launch.py index d332dbdb4..d65e7149a 100644 --- a/demo/launch/pickplace.launch.py +++ b/demo/launch/pickplace.launch.py @@ -10,7 +10,6 @@ def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("moveit_resources_panda") .planning_pipelines(pipelines=["ompl"]) - .robot_description(file_path="config/panda.urdf.xacro") .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") .to_moveit_configs() )