How to configure OMPL planners (RRTStar, PRMStar) in Python v0.5.1

[shake-KHS]

Hello Tesseract Team,
I am using tesseract-robotics version 0.5.1.
I am trying to configure the OMPL planner to use a different algorithm, like RRTStar or PRMStar, instead of the default RRTConnect.
The available documentation and examples do not seem to work for this version and result in errors. Could you please provide a minimal code snippet showing the correct way to select and configure a different OMPL planner for version 0.5.1?
Thank you.

[marip8]

I am using tesseract-robotics version 0.5.1.

Can you be more specific here? Neither the tesseract nor the tesseract_planning repositories have a 0.5.1 tag. I did find a 0.5.1 tag in tesseract_ros, but it actually points to different versions of tesseract and tesseract_planning (see here).

In any case, I'm not sure the specification of OMPL planners has changed too much since then. You can specify the OMPL planner(s) that you want to use via the OMPL planner profile. Create an instance of this profile class and add it to the profile dictionary with a name that corresponds to the profile name field of the Composite/Move instructions that defines your motion planning request. This example shows how to add an OMPL planner profile with a selection of a specific OMPL planner. Please note that the links reference code in tesseract_planning 0.11.x which may or may not correspond to the version you are using

You can specify one or more instances of one or more different types of planners. If more than one is specified, they all run in parallel and either the first completed motion plan is returned