unimation-puma560_boxes_prm.mdl.xml

<?xml version="1.0" encoding="UTF-8"?>
<rlplan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlplan.xsd">
	<prm>
		<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>
		<kdtreeNearestNeighbors/>
		<uniformSampler/>
		<recursiveVerifier>
			<delta unit="deg">1</delta>
		</recursiveVerifier>
	</prm>
</rlplan>