diff --git a/src/picknik_ur_base_config/config/moveit/ompl_planning.yaml b/src/picknik_ur_base_config/config/moveit/ompl_planning.yaml
index cf75542e..7c7b6bca 100644
--- a/src/picknik_ur_base_config/config/moveit/ompl_planning.yaml
+++ b/src/picknik_ur_base_config/config/moveit/ompl_planning.yaml
@@ -1,3 +1,16 @@
+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
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
+
 planner_configs:
   APSConfigDefault:
     type: geometric::AnytimePathShortening
diff --git a/src/picknik_ur_base_config/config/moveit/pilz_industrial_motion_planner_planning.yaml b/src/picknik_ur_base_config/config/moveit/pilz_industrial_motion_planner_planning.yaml
new file mode 100644
index 00000000..6d791384
--- /dev/null
+++ b/src/picknik_ur_base_config/config/moveit/pilz_industrial_motion_planner_planning.yaml
@@ -0,0 +1,14 @@
+planning_plugins:
+  - pilz_industrial_motion_planner/CommandPlanner
+default_planner_config: LIN
+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