from moveit_configs_utils import MoveItConfigsBuilder
moveit_config = (
MoveItConfigsBuilder("fairino3_v6_robot", package_name="fairino3_v6_left_arm")
.robot_description(file_path="config/fairino3_v6_robot.urdf.xacro")
.robot_description_semantic(file_path="config/fairino3_v6_robot.srdf")
.robot_description_kinematics(file_path="config/kinematics.yaml")
.joint_limits(file_path="config/joint_limits.yaml")
.trajectory_execution(file_path="config/moveit_controllers.yaml")
.planning_scene_monitor(
publish_robot_description=True,
publish_robot_description_semantic=True,
publish_geometry_updates=True,
publish_state_updates=True,
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