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src/custom-ur-descriptions/cms_moveit_config/config/ompl_planning.yaml

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planning_plugins:
  - ompl_interface/OMPLPlanner
request_adapters:
  - default_planning_request_adapters/ResolveConstraintFrames
  - default_planning_request_adapters/ValidateWorkspaceBounds
  - default_planning_request_adapters/CheckStartStateBounds
  - default_planning_request_adapters/CheckStartStateCollision
response_adapters:
  - default_planning_response_adapters/AddTimeOptimalParameterization
  - default_planning_response_adapters/ValidateSolution
  - default_planning_response_adapters/DisplayMotionPath
planner_configs:
  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
    range: 0.0
    goal_bias: 0.15  # Higher = more direct paths (default 0.05)
  RRTstar:
    type: geometric::RRTstar
    range: 1.0
    # Uncomment to optimize clearance over path length (slower; RRTstar-only):
    # optimization_objective: MaximizeMinClearanceObjective
  LBTRRT:
    # (1+epsilon)-optimal, converges faster than RRTstar. epsilon = suboptimality
    # bound (0.2 = within ~20% of optimal); raise for faster/looser, lower for tighter.
    type: geometric::LBTRRT
    range: 1.0
    epsilon: 0.2
  PRMkConfigDefault:
    type: geometric::PRM
    range: 0.0
  RRTkConfigDefault:
    type: geometric::RRT
    range: 0.0
  ESTkConfigDefault:
    type: geometric::EST
    range: 0.0
  LBKPIECEkConfigDefault:
    type: geometric::LBKPIECE
    range: 0.0
  BKPIECEkConfigDefault:
    type: geometric::BKPIECE
    range: 0.0
  KPIECEkConfigDefault:
    type: geometric::KPIECE
    range: 0.0
  BiTRRTkConfigDefault:
    type: geometric::BiTRRT
    range: 0.0
  LazyPRMkConfigDefault:
    type: geometric::LazyPRM
    range: 0.0
  SBLkConfigDefault:
    type: geometric::SBL
    range: 0.0

ur_arm:
  default_planner_config: RRTConnectkConfigDefault
  # Collision-check resolution (default 0.05). Finer = fewer grazes that pass the
  # planner but fail ValidateSolution, but slower planning. Raise toward 0.005 if too slow.
  longest_valid_segment_fraction: 0.001
  planner_configs:
    - RRTConnectkConfigDefault
    - RRTstar
    - LBTRRT
    - PRMkConfigDefault
    - RRTkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - BiTRRTkConfigDefault
    - LazyPRMkConfigDefault
    - SBLkConfigDefault

# Optionally, if you have a gripper group:
# gripper:
#   default_planner_config: RRTConnectkConfigDefault
#   planner_configs:
#     - RRTConnectkConfigDefault