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UR20 description and meshes
The UR20 meshes are added under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation
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‎README.md‎

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[![Build Status: Ubuntu Bionic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Bionic/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22)
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[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)
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[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)
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[![License - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)
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[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
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[![License](https://img.shields.io/badge/License-Universal%20Robots%20A/S%E2%80%99%20Terms%20and%20Conditions%20for%20Use%20of%20Graphical%20Documentation-blue.svg)](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt)
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[![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
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‎universal_robots/package.xml‎

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<exec_depend>ur10e_moveit_config</exec_depend>
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<exec_depend>ur10_moveit_config</exec_depend>
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<exec_depend>ur16e_moveit_config</exec_depend>
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<exec_depend>ur20_moveit_config</exec_depend>
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<exec_depend>ur3e_moveit_config</exec_depend>
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<exec_depend>ur3_moveit_config</exec_depend>
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<exec_depend>ur5e_moveit_config</exec_depend>

‎ur20_moveit_config/.setup_assistant‎

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moveit_setup_assistant_config:
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URDF:
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package: ur_description
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relative_path: urdf/ur20.xacro
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xacro_args: ""
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SRDF:
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relative_path: config/ur20.srdf
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CONFIG:
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author_name: Felix Exner
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author_email: [email protected]
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generated_timestamp: 1611154369

‎ur20_moveit_config/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package ur20_moveit_config
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

‎ur20_moveit_config/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(ur20_moveit_config)
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find_package(catkin REQUIRED)
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catkin_package()
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if (CATKIN_ENABLE_TESTING)
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find_package(roslaunch REQUIRED)
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roslaunch_add_file_check(tests/moveit_planning_execution.xml)
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endif()
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install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

‎ur20_moveit_config/config/chomp_planning.yaml‎

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planning_time_limit: 10.0
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max_iterations: 200
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max_iterations_after_collision_free: 5
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smoothness_cost_weight: 0.1
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obstacle_cost_weight: 1.0
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learning_rate: 0.01
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smoothness_cost_velocity: 0.0
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smoothness_cost_acceleration: 1.0
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smoothness_cost_jerk: 0.0
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ridge_factor: 0.01
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use_pseudo_inverse: false
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pseudo_inverse_ridge_factor: 1e-4
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joint_update_limit: 0.1
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collision_clearence: 0.2
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collision_threshold: 0.07
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use_stochastic_descent: true
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enable_failure_recovery: true
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max_recovery_attempts: 5

‎ur20_moveit_config/config/fake_controllers.yaml‎

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controller_list:
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- name: fake_manipulator_controller
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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initial: # Define initial robot poses.
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- group: manipulator
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pose: home

‎ur20_moveit_config/config/joint_limits.yaml‎

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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elbow_joint:
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has_velocity_limits: true
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max_velocity: 3.1415926535897931
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has_acceleration_limits: false
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max_acceleration: 0
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shoulder_lift_joint:
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has_velocity_limits: true
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max_velocity: 2.0943951023931953
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has_acceleration_limits: false
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max_acceleration: 0
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shoulder_pan_joint:
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has_velocity_limits: true
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max_velocity: 2.0943951023931953
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has_acceleration_limits: false
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max_acceleration: 0
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wrist_1_joint:
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has_velocity_limits: true
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max_velocity: 3.1415926535897931
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has_acceleration_limits: false
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max_acceleration: 0
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wrist_2_joint:
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has_velocity_limits: true
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max_velocity: 3.1415926535897931
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has_acceleration_limits: false
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max_acceleration: 0
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wrist_3_joint:
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has_velocity_limits: true
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max_velocity: 3.1415926535897931
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has_acceleration_limits: false
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max_acceleration: 0

‎ur20_moveit_config/config/kinematics.yaml‎

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manipulator:
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kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
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solve_type: Distance
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kinematics_solver_search_resolution: 0.005
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kinematics_solver_timeout: 0.005

‎ur20_moveit_config/config/ompl_planning.yaml‎

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planner_configs:
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SBL:
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type: geometric::SBL
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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EST:
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type: geometric::EST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LBKPIECE:
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type: geometric::LBKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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BKPIECE:
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type: geometric::BKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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KPIECE:
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type: geometric::KPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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RRT:
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type: geometric::RRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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RRTConnect:
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type: geometric::RRTConnect
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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RRTstar:
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type: geometric::RRTstar
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
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TRRT:
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type: geometric::TRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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max_states_failed: 10 # when to start increasing temp. default: 10
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temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
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min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
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init_temperature: 10e-6 # initial temperature. default: 10e-6
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
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PRM:
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type: geometric::PRM
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max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
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PRMstar:
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type: geometric::PRMstar
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FMT:
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type: geometric::FMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
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nearest_k: 1 # use Knearest strategy. default: 1
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cache_cc: 1 # use collision checking cache. default: 1
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heuristics: 0 # activate cost to go heuristics. default: 0
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extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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BFMT:
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type: geometric::BFMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
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nearest_k: 1 # use the Knearest strategy. default: 1
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balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
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optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
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heuristics: 1 # activates cost to go heuristics. default: 1
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cache_cc: 1 # use the collision checking cache. default: 1
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extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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PDST:
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type: geometric::PDST
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STRIDE:
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type: geometric::STRIDE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
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degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
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max_degree: 18 # max degree of a node in the GNAT. default: 12
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min_degree: 12 # min degree of a node in the GNAT. default: 12
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max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
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estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
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min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
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BiTRRT:
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type: geometric::BiTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
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init_temperature: 100 # initial temperature. default: 100
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
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LBTRRT:
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type: geometric::LBTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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epsilon: 0.4 # optimality approximation factor. default: 0.4
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BiEST:
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type: geometric::BiEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ProjEST:
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type: geometric::ProjEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LazyPRM:
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type: geometric::LazyPRM
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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LazyPRMstar:
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type: geometric::LazyPRMstar
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SPARS:
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type: geometric::SPARS
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 1000 # maximum consecutive failure limit. default: 1000
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SPARStwo:
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type: geometric::SPARStwo
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 5000 # maximum consecutive failure limit. default: 5000
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manipulator:
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longest_valid_segment_fraction: 0.01
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default_planner_config: RRTConnect
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planner_configs:
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- SBL
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- EST
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- LBKPIECE
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- BKPIECE
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- KPIECE
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- RRT
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- RRTConnect
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- RRTstar
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- TRRT
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- PRM
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- PRMstar
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- FMT
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- BFMT
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- PDST
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- STRIDE
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- BiTRRT
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- LBTRRT
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- BiEST
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- ProjEST
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- LazyPRM
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- LazyPRMstar
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- SPARS
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- SPARStwo

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