This package currently uses the CBiRRT space-delimited format to serialize TSRs and TSR chains. This format is not clearly documented anywhere and is quite error-prone to implement.
The newer pr_constraint_or_ompl package uses a JSON format, instead. As @psigen suggested in personalrobotics/prpy#311, we should add support for this JSON format to or_ompl as well. Once we have done so, we can deprecate the CBiRRT format.
This package currently uses the CBiRRT space-delimited format to serialize TSRs and TSR chains. This format is not clearly documented anywhere and is quite error-prone to implement.
The newer
pr_constraint_or_omplpackage uses a JSON format, instead. As @psigen suggested in personalrobotics/prpy#311, we should add support for this JSON format toor_omplas well. Once we have done so, we can deprecate the CBiRRT format.