# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_demo_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
    return generate_demo_launch(moveit_config)
