Example on get_shortest_path_to_object_type

[ChongjianGE]

Hi @zkytony Thanks for the wonderful project. I am currently implementing the get_shortest_path_to_object_type fucntion to get the valid path for navigation. However, I found the current code breaks down when run the function. Could you give me an example on how to run the get_shortest_path_to_object_type function?

[zkytony]

Oops. Not sure why I didn't see this before... It's been a while. I couldn't find an example for get_shortest_path_to_object_type but I do have an example for get_shortest_path_to_object_type here in another repo. It's used as part of an A* planner implementation. See video for examples:

• https://www.youtube.com/watch?v=msy432F3CvE (this one should work)
• https://www.youtube.com/watch?v=niZY9y0z3vQ (object in container; this one doesn't always work)

Hope you've resolved your original issue, and hope this answer is helpful for others.

[zkytony]

The idea for get_shortest_path_to_object_type should be similar (just first fetch the object instance with the type closest to the robot, then use get_shortest_path_to_object_type for that instance).