OMPL reports solved paths that are incorrect

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JBaxter
Posts: 2
Joined: 20 Sep 2018, 19:33

OMPL reports solved paths that are incorrect

Post by JBaxter » 22 Sep 2018, 01:13

Hello!

I am trying to use V-REP's OMPL to motion plan for a robot. I am finding that simOMPL.solve() returns true despite the "solution" returned by simOMPL.getPath() not reaching the goal state. I don't know what is going wrong, as far as I can tell everything I am doing is correct.

I have an example scene file here:
https://drive.google.com/file/d/1nr9Q3_ ... sp=sharing

I am using OSX and the EDU version of V-REP 3.5.0 rev 4.

Thank you very much for your time!

fferri
Posts: 219
Joined: 09 Sep 2013, 19:28

Re: OMPL reports solved paths that are incorrect

Post by fferri » 24 Sep 2018, 12:38

I'm not sure wether OMPL would return the last state corresponding to goal.

Can you double-check that the last state in the path returned by OMPL cannot be connected (i.e. by linear interpolation) to the goal state? (you may want to add some obstacles to your example to have a realistic testcase)

JBaxter
Posts: 2
Joined: 20 Sep 2018, 19:33

Re: OMPL reports solved paths that are incorrect

Post by JBaxter » 24 Sep 2018, 18:19

Not returning a path to the goal would be very surprising behavior, if that is the case it should be documented.

Edit: I tried adding an obstacle preventing straightline solutions and the strange behavior persists, specifically the last state in the path is clearly not connectable to the specified goal (I put a table in the way).

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