Closed behradkhadem closed 1 year ago
Hi @behradkhadem, Obstacle are physical things, that a robot can interact with, it's either movable or not, see flag in the constructor dictionary. A goal is an abstract concept acting as a target for the motion planner, it can be visualized in the environment but does not affect the environment in a physical way.
Hi @behradkhadem, Obstacle are physical things, that a robot can interact with, it's either movable or not, see flag in the constructor dictionary. A goal is an abstract concept acting as a target for the motion planner, it can be visualized in the environment but does not affect the environment in a physical way.
Thanks for responding.
Does mpscenes
have any docs or stuff?
No, not at all. :(
Hello @maxspahn, I know that this is not an issue, but I couldn't find a better way of asking this question.
Inside the examples, there are two concepts called
Goal
(evidently dependent on a package calledmpscenes
) andObstacle
. What are they exactly? What are their use cases? I know that they add some data to observation dictionary but I fail to understand what are they used for? Are obstacles movable? Can a panda arm pick an obstacle? Or do I need to create new obstacles (from URDF files)? Docs doesn't have enough information on the subject and it just says todo.