Clemens Eppner

Is there an API to maybe modify the scene graph after it is loaded? In order to add such (semantic) properties.

Cool! Yes, I would prefer the python interface.

Great, that helps a lot. Thanks!

Sorry, just one tiny question regarding the "debugging" thing. I'm now at the point where the RRT cannot sample valid goal states: "Error: RRTConnect: Unable to sample any valid states...

Alright. I'm trying to figure out in which coordinate systems the poses are expressed. According to the documentation the function ```op_tf_abs``` returns "the absolute pose of FRAME". Does "absolute" mean...

Ok, thanks. There's no simple way to visualize all frames in ```aarxc```, right? I guess adding markers to all frames defined in the scene files myself is the easiest way...

Ok, one final question. I cannot find any valid goal state for RRTConnect ("Unable to sample any valid states for goal tree"), even if I do forward kinematics and use...

Ok, that would help in general. But in my case it's impossible, since I provide a file with the allowed collisions in which I put all possible pairs of robot...

Ok, thanks. One related question: is the geometry attribute ```collision 0;``` used? It is generated when converting from URDF to robray scene files but it is nowhere documented (http://amino.kavrakilab.org/scenefile.html). I...

Is there some documentation on this, or a file that I can look at? (e.g. the 'cone' option is also not available although the docs say so)