22 seems to arise because the hand is close to the object and few states are legal.
We could address this by following the advice in simAnn.cpp:186 and uncomment line 190.
Right now, if no legal state is found, the step is not iterated. If the step is not iterated, the planner continues to attempt to take the same size jump. If the step is iterated, the problem 'cools' which reduces the attempted step size. Additionally, it means the optimization cannot stall forever failing to find legal states.
We could also decrease maxAttempts on line 168, which would make it run faster.
22 seems to arise because the hand is close to the object and few states are legal.
We could address this by following the advice in simAnn.cpp:186 and uncomment line 190.
Right now, if no legal state is found, the step is not iterated. If the step is not iterated, the planner continues to attempt to take the same size jump. If the step is iterated, the problem 'cools' which reduces the attempted step size. Additionally, it means the optimization cannot stall forever failing to find legal states.
We could also decrease maxAttempts on line 168, which would make it run faster.