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
planner_configs:
  RRTConnect:
    type: geometric::RRTConnect
    range: 0.0
arm:
  planner_configs:
    - RRTConnect
  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
  longest_valid_segment_fraction: 0.005