Some questions on the planning code

[RanDing2000]

Hello,
I have a couple of questions regarding the planning process:

1. Does the MLPlanner support gripper width as a parameter or constraint?
2. What is the purpose of the obstacle_pc? I noticed it remains constant for every scene, so why is it necessary to update it?

Thank you!

[chisarie]

Hello, and thank you for your interest in our work.

1. I assume you mean the MPLibPlanner. This is only use to plan the motion of the arm, so the gripper has nothing to do with it. You could have different gripper widths, or even different gripper shapes, and it would be the same. This is only planning for the arm motion.
2. obstacle_pc is the pointcloud we pass to the planner, so that it can do obstacle avoidance. It is needed so that you don't crash in the table for example. This is not constant for every scene, it changes depending on the observed scene, you can see this here:

   CenterGrasp/centergrasp/sapien/behaviors.py

   Line 61 in 9ea0b13

   self.planner.update_obstacle_pc(obstacle_pc)