Motion Planning algorithms

[bvandewa]

Hello,

I've put together a motion planning scene run through a Python API, which works quite well for what I need it to. I've been interested in comparing the path planning algorithms available in the OMPL, and I noticed something strange. Sometimes the algorithms will completely ignore the collision obstacles I have set and move through them, but sometimes it will behave exactly as I would expect. Certain algorithms will consistently ignore the collisions, while others will only do it very rarely, some not at all. I was wondering if this is known behaviour, or if I have likely made a mistake defining what isn't allowed to collide with what.

Thank you!

[coppelia]

Hello,

could it be a similar issue as this one, related to the state validity checking resolution?

Cheers

[bvandewa]

Hello,

Thank you for the reply! I took a look at the post you linked and messed around with that parameter, but it still occurs sometimes. It doesn't occur at all with certain planners (like BiTRRT), but it does with others (such as LazyRRT). It seems to me to be an issue with the algorithm (or maybe a parameter within it needs tuning). If there are any more ideas about what could be happening, I'd appreciate any feedback.

Thank you!

[fferri]

Please post a minimal, self-contained (i.e. use the regular API instead of the remote API) scene that can reproduce the issue.