[ompl-users] Goal State Doesn’t Match Goal

[Adam F. <afi...@cs...>]

Hi all,

I posted about this on GitHub as well—not sure what the right place is. I
am using OMPL version 1.5.2 through Python with Pybullet as the collision
checker. Specifically, I am planning for a Franka arm. I pretty frequently
find that when I plan for a problem—especially a difficult problem—the
final state in the plan is very far off from the goal I gave the planner.
I’ve tested this with the simple RRT + simple setup and have been running
into the issue frequently.

Is there some parameter to specify the acceptable region around the goal? I
posted an example of the code I use in the GitHub issue here:
https://github.com/ompl/ompl/issues/866

Hopefully there’s some easy fix on my end and I’m just doing something
ill-advised.

Thanks for your help,
Adam
-- 
Adam Fishman
He/Him
fishy.ai