pilz_industrial_motion_planner_planning.yaml

planning_plugin: pilz_industrial_motion_planner/CommandPlanner
request_adapters: >-
  default_planner_request_adapters/FixWorkspaceBounds
  default_planner_request_adapters/FixStartStateBounds
  default_planner_request_adapters/FixStartStateCollision
  default_planner_request_adapters/FixStartStatePathConstraints
default_planner_config: PTP
capabilities: >-
    pilz_industrial_motion_planner/MoveGroupSequenceAction
    pilz_industrial_motion_planner/MoveGroupSequenceService