Replace input_indexing and output_indexing with indexing

tesseract-robotics · Nov 7, 2023 · e9d236b · e9d236b
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diff --git a/tesseract_task_composer/README.rst b/tesseract_task_composer/README.rst
@@ -375,22 +375,19 @@ Raster Motion Task
          config:
            remapping:
              input_data: output_data
-           input_indexing: [output_data]
-           output_indexing: [output_data]
+           indexing: [output_data]
        raster:
          task: CartesianPipeline
          config:
            remapping:
              input_data: output_data
-           input_indexing: [output_data]
-           output_indexing: [output_data]
+           indexing: [output_data]
        transition:
          task: FreespacePipeline
          config:
            remapping:
              input_data: output_data
-           input_indexing: [output_data]
-           output_indexing: [output_data]
+           indexing: [output_data]
 
 Raster Only Motion Task
 ^^^^^^^^^^^^^^^^^^^^^^^
@@ -408,15 +405,13 @@ Raster Only Motion Task
          config:
            remapping:
              input_data: output_data
-           input_indexing: [output_data]
-           output_indexing: [output_data]
+           indexing: [output_data]
        transition:
          task: FreespacePipeline
          config:
            remapping:
              input_data: output_data
-           input_indexing: [output_data]
-           output_indexing: [output_data]
+           indexing: [output_data]
 
 
 Check Input Task

diff --git a/tesseract_task_composer/config/task_composer_plugins.yaml b/tesseract_task_composer/config/task_composer_plugins.yaml
@@ -673,24 +673,21 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 raster:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: FreespaceTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, RasterMotionTask]
@@ -751,24 +748,21 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 raster:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, RasterMotionTask]
@@ -829,16 +823,14 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: FreespaceTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, RasterMotionTask]
@@ -899,16 +891,14 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, RasterMotionTask]
@@ -976,24 +966,21 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 raster:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: FreespaceTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, DescartesMotionPlannerTask]
@@ -1063,24 +1050,21 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 raster:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, DescartesMotionPlannerTask]
@@ -1150,16 +1134,14 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: FreespaceTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, DescartesMotionPlannerTask]
@@ -1229,16 +1211,14 @@ task_composer_plugins:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
                 transition:
                   task: CartesianTask
                   config:
                     abort_terminal: 0
                     remapping:
                       input_data: output_data
-                    input_indexing: [output_data]
-                    output_indexing: [output_data]
+                    indexing: [output_data]
           edges:
             - source: SimpleMotionPlannerTask
               destinations: [ErrorTask, DescartesMotionPlannerTask]