Moveit benchmark query vs start state
I am attempting to use the moveit benchmark "suite" with the MongoDB database and it all seems to work great.
However, it is not completely clear to me what "start-states" are and what they represent. One can save states and then assign them to be the "start-state" in the benchmark config yaml, but since a query also contains a start- and goal state this seems redundant to me?
Or is the start state used for an execution with a fake-controller? In that case, what would be the reason to use this as well as the query objects?
That is still a very good question. I haven't found any documentation on it, the Moveit1 tutorial doesn't provide any more information on it either. Have you found out anything? Furthermore I try to understand the data on plannerarena, there are no units at the values for for example "final path length". I will also open a new question about this.