Using BITstar Algorithm in CoppeliaSim Results in Error

[Wenjing_Tang]

I'm currently working on a path planning project in CoppeliaSim using a Franka Emika Panda seven-axis robotic arm. While I was able to use various motion planning algorithms (like RRT, PRM, etc.) without any issues, I encountered an error when trying to use the BITstar algorithm. Here are the details of the problem:

Code: Select all

192: in sim.genericFunctionHandler: PathLengthDirectInfSampler only supports RealVector, SE2 and SE3 statespaces.
stack traceback:
    [C]: in function 'simOMPL.compute'
    [string "/editor@customizationScript"]:192: in function 'sysCall_thread'
stack traceback:
    [C]: in function 'error'
    ...ts/CoppeliaSim_Edu_V4_6_0_rev18_Ubuntu20_04/lua/base.lua:402: in function <...ts/CoppeliaSim_Edu_V4_6_0_rev18_Ubuntu20_04/lua/base.lua:391>
    

Code snippet:

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            simOMPL.setStartState(ompl_task, start_conf)
            simOMPL.setGoalState(ompl_task, target_conf)
            simOMPL.setAlgorithm(ompl_task, simOMPL.Algorithm.BITstar)
            simOMPL.setup(ompl_task)
            solved, ompl_path = simOMPL.compute(ompl_task, 5, -1, 300)

Why does the BITstar algorithm result in the mentioned error, while other algorithms do not? How can I solve the above problem?

Any insights or suggestions would be greatly appreciated.

Thank you in advance!

[fferri]

CoppeliaSim's OMPL plugin uses a compound state space, and that specific planning algorithm does not support that.

Consider using OMPL Python bindings, and you'll have more control over these details.