planning_plugins:
- pilz_industrial_motion_planner/CommandPlanner
default_planner_config: PTP
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/ValidateSolution
- default_planning_response_adapters/DisplayMotionPath
capabilities: >-
pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService