Re-add FixStartStatePathConstraints

Kinovarobotics · Nov 9, 2023 · 4bf96c4 · 4bf96c4
1 parent 79833bc
commit 4bf96c4
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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
@@ -6,5 +6,6 @@ request_adapters:
   - default_planning_request_adapters/FixWorkspaceBounds
   - default_planning_request_adapters/FixStartStateBounds
   - default_planning_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/FixStartStatePathConstraints
 response_adapters:
   - default_planning_response_adapters/AddTimeOptimalParameterization
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
@@ -6,5 +6,6 @@ request_adapters:
   - default_planning_request_adapters/FixWorkspaceBounds
   - default_planning_request_adapters/FixStartStateBounds
   - default_planning_request_adapters/FixStartStateCollision
+  - default_planning_request_adapters/FixStartStatePathConstraints
 response_adapters:
   - default_planner_response_adapters/AddTimeOptimalParameterization