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  1. 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.
  2. Hi Mike, You should be able to see the documentation now. Thanks.
  3. 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:
  4. @Srini @David Gravel The online documentation link is now available on this forum, and also at docs.rtr.ai/
  5. 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.
  6. 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.
  7. 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
  8. Chris

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