Felix von Drigalski
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Felix von Drigalski
1., 2. Not that I know of, but I do not keep track 3. You can call the `getPlanningScene` capability of your move_group and store the `moveit_msgs::PlanningScene` object it returns,...
It should not be complicated to change the Motion Planning plugin to export to/import from a YAML file. I would welcome a PR, because it would make that functionality accessible...