OMPL warning: Skipping invalid start state (invalid bounds)

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adrialopezbou
Posts: 7
Joined: 17 Nov 2020, 10:37

OMPL warning: Skipping invalid start state (invalid bounds)

Post by adrialopezbou »

I am trying to understand how to create and follow a path with OMPL, and I tried to use the threaded script used in the 3DoFHolonomicPathPlanning demo but in a new scene, trying to move a cylinder from a start to a goal position, but I always get the same message:

[simExtOMPL:warning] OMPL: e:\ompl-1.4.1-source\src\ompl\base\src\planner.cpp:310: RRTConnect: Skipping invalid goal state (invalid bounds)
[simExtOMPL:error] OMPL: e:\ompl-1.4.1-source\src\ompl\geometric\planners\rrt\src\rrtconnect.cpp:252: RRTConnect: Unable to sample any valid states for goal tree

For now I only want to create and visualize the path, but it doesn't work. I've read in the forum that it may be a collision problem, but the only object in the scene is the cylinder.

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: OMPL warning: Skipping invalid start state (invalid bounds)

Post by coppelia »

Hello,

could it be that the cylinder is very slightly colliding with the floor?
Can you post a minimalistic scene that illustrates this?

Cheers

adrialopezbou
Posts: 7
Joined: 17 Nov 2020, 10:37

Re: OMPL warning: Skipping invalid start state (invalid bounds)

Post by adrialopezbou »

Hello,

No, I've already thought about the object colliding the floor and it wasn't the problem.

https://drive.google.com/file/d/17srUtK ... sp=sharing

Here is the scene.

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: OMPL warning: Skipping invalid start state (invalid bounds)

Post by coppelia »

This is because your target is out of bounds!

You specify a valid area or [-0.5;0.5] for x, and the same for y. Yet your target is located at {1.25,1.025,0.125}

Cheers

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