Moveit benchmark query vs start state

asked 2019-04-01 03:41:16 -0600

twannoo10 gravatar image

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?

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