Fix adapter names

Kinovarobotics · Nov 9, 2023 · d4ba823 · d4ba823
1 parent 4bf96c4
commit d4ba823
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Showing 2 changed files with 7 additions and 9 deletions.
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
@@ -3,9 +3,8 @@ start_state_max_bounds_error: 0.1
 jiggle_fraction: 0.05
 request_adapters:
   - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/FixWorkspaceBounds
-  - default_planning_request_adapters/FixStartStateBounds
-  - default_planning_request_adapters/FixStartStateCollision
-  - default_planning_request_adapters/FixStartStatePathConstraints
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+  - default_planning_request_adapters/ValidateWorkspaceBounds
 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
@@ -3,9 +3,8 @@ start_state_max_bounds_error: 0.1
 jiggle_fraction: 0.05
 request_adapters:
   - default_planning_request_adapters/ResolveConstraintFrames
-  - default_planning_request_adapters/FixWorkspaceBounds
-  - default_planning_request_adapters/FixStartStateBounds
-  - default_planning_request_adapters/FixStartStateCollision
-  - default_planning_request_adapters/FixStartStatePathConstraints
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+  - default_planning_request_adapters/ValidateWorkspaceBounds
 response_adapters:
-  - default_planner_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/AddTimeOptimalParameterization