planning_plugins:
  - ompl_interface/OMPLPlanner
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
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
  - iiwa_planning/SetRestBoundary
  - default_planning_response_adapters/AddRuckigTrajectorySmoothing
  - iiwa_planning/SetRestBoundary
  - iiwa_planning/LimitSplineDynamics
  - default_planning_response_adapters/ValidateSolution
  - default_planning_response_adapters/DisplayMotionPath