update ExecuteTrajectoryWithAdmittance leftovers

Author: marioprats

src/lab_sim/objectives/push_button_with_a_trajectory.xml

@@ -72,7 +72,8 @@
         config_file_name="push_button_admittance_params.yaml"
       />
       <Action
-        ID="ExecuteTrajectoryWithAdmittance"
+        ID="ExecuteTrajectory"
+        execution_pipeline="jtac"
         absolute_force_torque_threshold="1000;1000;1000;1000;1000;1000"
         admittance_parameters_msg="{admittance_parameters_msg}"
         controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"

src/lab_sim/objectives/stationary_admittance.xml

@@ -67,9 +67,10 @@
         message="Running admittance mode for 10 seconds"
       />
       <Action
-        ID="ExecuteTrajectoryWithAdmittance"
+        ID="ExecuteTrajectory"
         goal_position_tolerance="10;10;10;10;10;10;10;"
         path_position_tolerance="10;10;10;10;10;10;10"
+        execution_pipeline="jtac"
         admittance_parameters_msg="{admittance_parameters_msg}"
         absolute_force_torque_threshold="45;45;45;10;10;10"
         joint_trajectory_msg="{joint_trajectory_msg}"

src/moveit_pro_kinova_configs/kinova_sim/objectives/demo_trajectory_stitching.xml

@@ -120,9 +120,10 @@
       />
       <Control ID="Parallel" failure_count="2" success_count="1">
         <Action
-          ID="ExecuteTrajectoryWithAdmittance"
+          ID="ExecuteTrajectory"
           path_position_tolerance="0.2"
           absolute_force_torque_threshold="45;45;45;10;10;10"
+          execution_pipeline="jtac"
           admittance_parameters_msg="{admittance_parameters_msg}"
           controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
           goal_duration_tolerance="-1.000000"
@@ -131,12 +132,13 @@
         />
         <Decorator ID="Delay" delay_msec="400">
           <Action
-            ID="ExecuteTrajectoryWithAdmittance"
+            ID="ExecuteTrajectory"
             joint_trajectory_msg="{stitch_joint_trajectory_msg}"
             absolute_force_torque_threshold="45;45;45;10;10;10"
+            execution_pipeline="jtac"
+            admittance_parameters_msg="{admittance_parameters_msg}"
             goal_position_tolerance="0.001000"
             path_position_tolerance="0.2"
-            admittance_parameters_msg="{admittance_parameters_msg}"
             controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
             goal_duration_tolerance="-1.000000"
           />

src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml

@@ -101,9 +101,11 @@
             config_file_name="jtac_parameters.yaml"
           />
           <Action
-            ID="ExecuteTrajectoryWithAdmittance"
+            ID="ExecuteTrajectory"
             path_position_tolerance="2.0"
             goal_position_tolerance="0.1000"
+            execution_pipeline="jtac"
+            admittance_parameters_msg="{admittance_parameters_msg}"
             controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
           />
         </Control>