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  3. Hi all, I've created documentation that should help with URDF creation and usage in our systems. It can be found here: https://docs.rtr.ai/_source/UrdfInstructions.html#urdfinstructions If you have any questions, or find any errors, please don't hesitate to reach out via a post in this thread. Best, Ty
  4. Hi TyTremblay, Thank you! Where and How do I to buy the MPA?
  5. Great, thank you. That resolves my issue.
  6. To vary end effector orientations in the toolkit, you can add multiple seed poses when creating a roadmap region. Change the pose of the end effector using the drag handles, then click "Add Current Pose" in the window. You can add as many poses as you like, just remember that this will add a pose to each pose in the roadmap region.
  7. Hi Tremblay, Thanks for the reply. I am referring to the roadmap region. When I select the roadmap, I get the options shown in the attached image. I can modify the linear parameters of the roadmap but the rotational ones are grayed out. Is there a way to generate a roadmap with varying end effector orientations using the toolkit?
  8. You can do all setup steps without the RapidPlan MPA, but the MPA is required during operation.
  9. Hi Kirill, Are you trying to rotate the voxel region? Everything should be able to be rotated except the voxel region, which is intentional.
  10. Greetings, I would like to generate motion plans with selectable end effector orientations and positions. It seems I need to generate a roadmap that samples both the orientation space and linear position space. It is possible to generate a roadmap using the 'rtr-toolkit' program, by selecting a roadmap in the 'Regions:' window it is possible to set the linear position sampling paramaters such as 'Pos (m)' and 'Size (m)'. However, the rotational sampling input box 'Rot (rad)' is grayed out. Is there a way to enable it? If not then how can motion plans with different orientation goals be generated? Best Regards
  11. Hi Kurt I am following the Realtime Robotics Product documentation to set up the dynamic avoidance system in changing environment, As described in the documentation(https://docs.rtr.ai/_source/RapidPlanRoboticsIntroduction.html#motionplanningintro), the a motion planning accelerator (MPA) board, which is a hardware, is one component of RapidPlan. I am wondering that whether the MPA is indispensable. If I don't have the MPA, could I still use Rapidplan?
  12. Attached is a document detailing how/where to mount the Intel RealSense cameras for best performance of the RapidSense system Room-Setup-for-RapidSense.pdf
  13. The plugin consists of the three classes RTRPlannerManager, RTRPlanningContext and RTRPlannerInterface. While the first two implement the plugin structure of Moveit!, the RTRPlannerInterface provides an interface for sending motion planning requests to RapidPlan. More info and tutorials are available on the project's github page.
  14. Hi Mike, You should be able to see the documentation now. Thanks.
  15. Hi Chris, I also can't find any documentation in downloads tab. Could you give me another solution? Thinks.
  16. Please check now. Thanks.
  17. Hi Kirill, That is correct; the command is just MPATest. Thank you for catching that! To ensure that you can execute the command, add the following lines to your .bashrc file if they are not already there source /opt/ros/kinetic/setup.bash Relaunch your terminal or resource .bashrc if you add the lines
  18. Hi, there maybe a typo in the installation instructions. The final test executable should be MPATest because RapidPlanMPATest does not seem to exist. Or should it exist and its absence indicates an installation error?
  19. Hi Chris, I can not find any documentation in downloads tab.Can you give me another solution? Thinks, Chris
  20. You can review your joint limits in the Toolkit if you press the "FK" button: Even though in reality all the joints of the UR5 are [-2*pi, 2*pi], they are significantly limited here, which affects the ability of the IK solver. If you go to urdf/parameters.urdf.xacro, you can see where they are set:
  21. The datasheets for the Intel RealSense D400 family of cameras is available on intel's website: https://www.intel.com/content/www/us/en/support/articles/000026827/emerging-technologies/intel-realsense-technology.html
  22. @Srini @David Gravel The online documentation link is now available on this forum, and also at docs.rtr.ai/
  23. While there is no way to directly specify this constraint right now, there are a couple ways to achieve the same effect. 1) Put two different regions above each other. If you only want vertical connections, then set internal density to None, and External to Sparse. It should connect each node with the closest other node. This should result in only vertical edges, as shown in the snapshot below. If one of the vertical connections is not possible due to self-collision or something, it may create a diagonal edge. 2) If you end up with diagonal edges you don't like, in your runtime program you can plan in two stages. First plan to the location directly above your pick location, which should find the node directly above it, and then plan straight down along that vertical edge.
  24. Hi Srini, You can download an offline copy of the documentation under the documentation section of the downloads tab. Please let me know if you cannot download the documentation.
  25. Hi, I am unable to access the documentation.
  26. Hi David, A technical resource will be in touch shortly to provide answers to these questions. In the mean-time please see the documentation posted here: https://support.rtr.ai/files/categories/ Thanks, Chris
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