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PRACSYS is a software package used for developing and evaluating controllers and planners in simulation.

The software utilizes core ROS infrastructure, ROS packages for planning (e.g., OMPL) and provides plugin functionality for software packages for physics-based simulation (e.g., ODE), collision checking, visualization and ray-tracking (e.g., OpenSceneGraph).

Some of the features of the software include: (a) the capability for separate...