{"action":"closed","issue":{"url":"https://api.github.com/repos/personalrobotics/prpy/issues/220","labels_url":"https://api.github.com/repos/personalrobotics/prpy/issues/220/labels{/name}","comments_url":"https://api.github.com/repos/personalrobotics/prpy/issues/220/comments","events_url":"https://api.github.com/repos/personalrobotics/prpy/issues/220/events","html_url":"https://github.com/personalrobotics/prpy/issues/220","id":114155137,"number":220,"title":"CHOMPPlanner fails to serialize TSRs","user":{"login":"mkoval","id":142251,"avatar_url":"https://avatars.githubusercontent.com/u/142251?v=3","gravatar_id":"","url":"https://api.github.com/users/mkoval","html_url":"https://github.com/mkoval","followers_url":"https://api.github.com/users/mkoval/followers","following_url":"https://api.github.com/users/mkoval/following{/other_user}","gists_url":"https://api.github.com/users/mkoval/gists{/gist_id}","starred_url":"https://api.github.com/users/mkoval/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mkoval/subscriptions","organizations_url":"https://api.github.com/users/mkoval/orgs","repos_url":"https://api.github.com/users/mkoval/repos","events_url":"https://api.github.com/users/mkoval/events{/privacy}","received_events_url":"https://api.github.com/users/mkoval/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/personalrobotics/prpy/labels/bug","name":"bug","color":"fc2929"},{"url":"https://api.github.com/repos/personalrobotics/prpy/labels/duplicate","name":"duplicate","color":"cccccc"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-10-29T21:49:47Z","updated_at":"2015-11-12T18:10:16Z","closed_at":"2015-11-12T18:10:16Z","body":"I believe this is related to the TSR refactor, when the CBiRRT-format TSR serialization code was moved to CBiRRTPlanner.\r\n\r\n```\r\nTraceback (most recent call last):\r\n  File \"/homes/mkoval/herb-ws/src/prpy/tests/planning/methods/PlanToEndEffectorPose.py\", line 66, in test_PlanToEndEffectorPose_GoalInCollision_Throws\r\n    self.planner.PlanToEndEffectorPose(self.robot, goal_ik)\r\n  File \"/homes/mkoval/herb-ws/src/prpy/src/prpy/planning/base.py\", line 153, in __call__\r\n    return call_planner()\r\n  File \"/homes/mkoval/herb-ws/src/prpy/src/prpy/planning/base.py\", line 133, in call_planner\r\n    *args, **kw_args)\r\n  File \"/homes/mkoval/herb-ws/src/prpy/src/prpy/planning/chomp.py\", line 266, in PlanToEndEffectorPose\r\n    releasegil=True, **kw_args\r\n  File \"/home/mkoval/storage/herb-ws/src/or_cdchomp/pythonsrc/orcdchomp/orcdchomp.py\", line 203, in runchomp\r\n    run = create(mod, releasegil=releasegil, **kwargs)\r\n  File \"/home/mkoval/storage/herb-ws/src/or_cdchomp/pythonsrc/orcdchomp/orcdchomp.py\", line 130, in create\r\n    cmd += ' start_tsr \\'%s\\'' % start_tsr.serialize()\r\nAttributeError: 'TSR' object has no attribute 'serialize'\r\n```"}}