Aaron

The function of reading _pose.json_ will return one more pose than the actual file contains. This caused by _fstream::eof()_ in the while statement, which only returns false when your _fstream::get()_...

Drifting on MulRan Datasets

6

Thanks for your great work. I recently tested this solution on MulRan dataset, but got drifting on every subset after running for couple seconds. It warns about 'large velocity, reset...

Add new KinBody::ExtraGeometryInfo struture for KinBody::Link::_mapExtraGeometries

2

Add support for serialization and deserialization of the `extraGeometries` field. The `extraGeometries` in OpenRAVE is saved as `std::map< std::string, std::vector >` while the schema supposes to be: ```JSON "extraGeometries": [...