how to obtain the tree from the manipulatorRRT function

I’d like to save and visualize the whole tree the function manipulatorRRT creates internally and not only the path connecting the starting point to the goal (interpPath). Can you please help me? Thank you in advance.

rrt = manipulatorRRT(robot, env);

rrt.SkippedSelfCollisions = "parent";

rrt.IgnoreSelfCollision = true;

rrt.MaxIterations = 5000;

start = homePosition;

goal = [2.3907 -1.8148 -1.3379 -3.0796 1.8761 2.3166];

path = rrt.plan(start, goal);

interpPath = interpolate(rrt,path);

Answer 1

[Karsh Tharyani]

Hi Bianca, thanks for posting your question. Unfortunately, there is no user facing API that will enable you to do so, and I have conveyed this enhancement request to the internal Development team at MathWorks.

I also suggest that you still reach out to Technical Support with more details around your question and to help us better investigate this issue and should there be a possible workaround.

You can reach them via https://www.mathworks.com/support/contact_us.html to create a service request.

Best,

Karsh