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  1. 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
  2. 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.
  3. You can do all setup steps without the RapidPlan MPA, but the MPA is required during operation.
  4. Hi Kirill, Are you trying to rotate the voxel region? Everything should be able to be rotated except the voxel region, which is intentional.
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