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This will bringup the start screen with two choices Create New MoveItConfiguration Package or Edit Existing MoveItConfiguration Package.
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Topic modeldepth gives the points that overlap with the current robot state.

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MoveIt Grasps is a grasp generator for objects such as blocks or cylinders and can be used as a replacement for the MoveIt pick and place pipeline.
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This particular tutorial was tested on a UR5 robotic arm running firmware version 3.
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I'm brand new to ROS, so any help is appreciated I am using Ubuntu 20.

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128 "Currently the default robot hardware simulation interface only supports one.

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