Update stomp planning config.yaml (#147)

src/picknik_ur_base_config/config/moveit/stomp_planning.yaml

@@ -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