Inquiry Regarding avg_time Discrepancy and Visualization Steps

[zjnkinetic]

Hello, thank you for your amazing work on this project! I have successfully run your code on Ubuntu following the README instructions. However, I noticed a significant discrepancy between my measured avg_time and the value reported in issue1. Could this difference be caused by hardware limitations (mine Intel Core i7-14700HX NVIDIA RTX 4070 ) or other potential factors ?

Additionally, could you provide detailed steps or documentation for visualizing the motion planning process? I would like to better understand the internal workflow.

Thank you for your time and guidance!

[zjnkinetic]

hello, I have visualized the motion planning process in rviz, and I would like to inquire about how the files in the scene were generated, whether they were generated from "model_utils. generate_strained_config", and whether "start. txt" and "goal. txt" were manually assigned or generated

[psh117]

Sorry for the late reply. I missed the issue email.

Could you provide details on the package versions you are using? The discrepancy might be due to the laptop PC. Even so, I think the computational resources should be sufficient.

You can visualize the planning results using the --display argument. However, there is no visualization for the internal process.

Regarding the dataset, the start, goal, and obstacles positions are randomly sampled within the scene, and the dataset is stored only when a feasible motion exists.

If you have any further questions, please feel free to comment on this issue.

Thank you for your interest in this project!