save_planning_scenario Namespace
Definition
namespace save_planning_scenario { ... }
Functions Index
| main () | |
Description
Example demonstrating how to save a ProRRT planning call as a scenario.
This script shows how to:
- Plan a joint-space trajectory with ProRRT, as in plan_joint_space.py
- Record the planner inputs and outcome in a `pro_rrt.ScenarioInput` / `pro_rrt.ScenarioOutput`
- Write them with the robot description and planning scene to a scenario directory
that `ros2 run pro_rrt pro_rrt_replay <scenario_dir>` can replay offline, or whose data
you can load into your own replay script
Usage: python3 save_planning_scenario.py --output-dir <scenarios_root>
Functions
main()
|
Plan a Panda trajectory and save the call as a replayable scenario.
Definition at line 28 of file save_planning_scenario.py.
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