Hi, Iam looking for a simple way to PbD (programing by demonstration). I found the pr2_pbd package but its python and I really want c++, plus it includes lots of aditional code for gui, speech etc.

As I would like to be able to play long trajectories (minutes long) It seems the best way would be to generate short joint trajecotry action messages and sequence them. Iam just not sure how complex to go, and whats the best way of saving reading the data. What is a good size (time lenght) for jointTrajecory messages? What to watch out for?

Any Info would be appreciated.