Using BITstar Algorithm in CoppeliaSim Results in Error
Posted: 27 Jun 2024, 06:48
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 snippet:
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!
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: Select all
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)
Any insights or suggestions would be greatly appreciated.
Thank you in advance!