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Copy pathunimation-puma560_boxes_rrtConCon.mdl.xml
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unimation-puma560_boxes_rrtConCon.mdl.xml
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<?xml version="1.0" encoding="UTF-8"?>
<rlplan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlplan.xsd">
<rrtConCon>
<duration>120</duration>
<goal>
<q unit="deg">0</q>
<q unit="deg">0</q>
<q unit="deg">90</q>
<q unit="deg">0</q>
<q unit="deg">0</q>
<q unit="deg">0</q>
</goal>
<model>
<kinematics href="../rlmdl/unimation-puma560.xml" type="mdl">
<world>
<rotation>
<x>0</x>
<y>0</y>
<z>90</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</world>
</kinematics>
<model>0</model>
<scene href="../rlsg/unimation-puma560_boxes.convex.xml"/>
</model>
<start>
<q unit="deg">90</q>
<q unit="deg">-180</q>
<q unit="deg">90</q>
<q unit="deg">0</q>
<q unit="deg">0</q>
<q unit="deg">0</q>
</start>
<viewer>
<delta unit="deg">1</delta>
<model>
<kinematics href="../rlmdl/unimation-puma560.xml" type="mdl">
<world>
<rotation>
<x>0</x>
<y>0</y>
<z>90</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</world>
</kinematics>
<model>0</model>
<scene href="../rlsg/unimation-puma560_boxes.xml"/>
</model>
<swept unit="deg">100</swept>
</viewer>
<delta unit="deg">1</delta>
<kdtreeNearestNeighbors/>
<uniformSampler/>
</rrtConCon>
</rlplan>