The planning request adapters help to pre-process the motion planning request and post-process the motion planning response. One of the uses of pre-processing requests is that it helps to correct if there is a violation in the joint states and, for the post-processing, it can convert the path generated by the planner to a time-parameterized trajectory. The following are some of the default planning request adapters in MoveIt!:
- FixStartStateBounds: If a joint state is slightly outside the joint limits, then this adapter can fix the initial joint limits within the limits.
- FixWorkspaceBounds: This specifies a workspace for planning with a cube size of 10 m x 10 m x 10 m.
- FixStartStateCollision: This adapter ...
