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personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.
BSD 3-Clause "New" or "Revised" License
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Problem with BirrtPlanner #101

Open jeking04 opened 9 years ago

jeking04 commented 9 years ago

I see this error often when planning via Birrt:

[rrt.h:80 _InitPlan] no initial configurations [rrt.h:354 PlanPath] BirrtPlanner::PlanPath - Error, planner not initialized

It is not consistent, i.e. sometimes we are able to plan just fine. When I manually move the arm to reset we seem to be fairly wrapped up, so it could be because the start configuration is near joint limit.

mkoval commented 9 years ago

You can try switching back to CBiRRT or OMPL for our default randomized planner. I switched to the OpenRAVE BiRRT based on the input of @siddhss5 and @psigen. They found that the OpenRAVE BiRRT is much faster than OMPL's RRT-Connect.

psigen commented 9 years ago

I've found that this pair of errors generally means that the planner thinks the initial configuration is violating a limit or in collision.

On Mon, Apr 6, 2015 at 9:29 PM, Michael Koval notifications@github.com wrote:

You can try switching back to CBiRRT or OMPL for our default randomized planner. I switched to the OpenRAVE BiRRT based on the input of @siddhss5 https://github.com/siddhss5 and @psigen https://github.com/psigen. They found that the OpenRAVE BiRRT is much faster than OMPL's RRT-Connect.

— Reply to this email directly or view it on GitHub https://github.com/personalrobotics/prpy/issues/101#issuecomment-90306404 .

mkoval commented 9 years ago

It could be the usual "padded joint limits" problem, like @jeking04 suggested, then. Maybe it's time to actually solve this properly...