# 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.

openarm_moveit_config:
  default_planner_config: RRTConnect
  planner_configs:
    - AnytimePathShortening
    - SBL
    - EST
    - LBKPIECE
    - BKPIECE
    - KPIECE
    - RRT
    - RRTConnect
    - RRTstar
    - TRRT
    - PRM
    - PRMstar
    - FMT
    - BFMT
    - PDST
    - STRIDE
    - BiTRRT
    - LBTRRT
    - BiEST
    - ProjEST
    - LazyPRM
    - LazyPRMstar
    - SPARS
    - SPARStwo
  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
  longest_valid_segment_fraction: 0.005

planning_plugin: 'ompl_interface/OMPLPlanner'
request_adapters: >-
    default_planner_request_adapters/AddTimeOptimalParameterization
    default_planner_request_adapters/FixWorkspaceBounds
    default_planner_request_adapters/FixStartStateBounds
    default_planner_request_adapters/FixStartStateCollision
    default_planner_request_adapters/FixStartStatePathConstraints
start_state_max_bounds_error: 0.1