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Update stomp planning config.yaml #147

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Dec 12, 2023
Merged

Update stomp planning config.yaml #147

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20 changes: 12 additions & 8 deletions src/picknik_ur_base_config/config/moveit/stomp_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,15 @@
planning_plugin: stomp_moveit/StompPlanner
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
planning_plugins:
- stomp_moveit/StompPlanner
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
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

stomp_moveit:
num_timesteps: 60
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