add obstacle tolerance to the plan decoupled path function

guided_mrmp/utils/helpers.py

@@ -57,10 +57,10 @@ def initialize_libraries(library_fnames=["guided_mrmp/database/2x3_library","gui
 
     return lib_2x3, lib_3x3, lib_2x5
 
-def plan_decoupled_path(solver_name, start, goal, env, robot_radius,circle_obs, rectangle_obs,vis=False, iter=100):
+def plan_decoupled_path(solver_name, start, goal, env, robot_radius,circle_obs, rectangle_obs,vis=False, iter=100, obstacle_tol=0):
     x_bounds = env.boundary[0]
     y_bounds = env.boundary[1]
-    space = CircleRectangleObstacleCSpace(x_bounds,y_bounds,robot_radius)
+    space = CircleRectangleObstacleCSpace(x_bounds,y_bounds,robot_radius,obstacle_tol)
 
     for obs in circle_obs:
         space.addObstacle(Circle(obs[0],obs[1],obs[2]))