# Copyright 2025 Enactic, 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.

moveit_setup_assistant_config:
  urdf:
    package: openarm_description
    relative_path: urdf/robot/v10.urdf.xacro
    xacro_args: bimanual:=true
  srdf:
    relative_path: config/openarm_bimanual.srdf
  package_settings:
    author_name: Enactic, Inc.
    author_email: openarm_dev@enactic.ai
    generated_timestamp: 1753031250
  control_xacro:
    command:
      - position
      - velocity
    state:
      - position
      - velocity
  modified_urdf:
    xacros:
      - control_xacro
  control_xacro:
    command:
      - position
      - velocity
    state:
      - position
      - velocity