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<launch>
<!-- CHOMP Plugin for MoveIt! -->
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="collision_detector" value="Hybrid" />
<rosparam command="load" file="$(find moveit_resources)/fanuc_moveit_config/config/chomp_planning.yaml" />
</launch>
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