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When running the latest prpy and table_clearing but without the recent commits implementing bdofresl2norm an impossible tsr returns a trajectory. I set the tray to be 1m away, but when running CBiRRT on, e.g., MoveBowlOverTrayAction, it returns a trajectory that doesn't move anywhere instead of failing. This causes the whole demo to improperly succeed by picking up objects and dropping them in the same spot.

comps commit 09f5621
prpy commit 269cb87 (master at the time of writing this)
table_clearing commit 40624cd (master at the time of writing this)

Here's how to replicate the problem:

• 1. initialize an environment with robot
• 2. instantiate CBiRRT planner and request plan
• < repeat 2 >
  It eventually gobbles up all my RAM.

A second issue I've noticed is that if CBiRRT gets stuck in a weird state and fails to find a solution, subsequent plans with different parameters can also fail to find a solution.

The weird state is seen with this output:

Attached Solver Found a Solution!
Constrained IK solution(s) found!

< repeats forever until 25 sec timeout >

If you make a new request in the same environment, it will also fail in the same way. However if I create a new environment it will find a solution.

So unfortunately the most reliable way to test CBiRRT is to create a new environment for every, single planning request.

This ticket is just a placeholder. More debugging is required.

I got this error in pr-cleanroom:

/src/comps/cbirrt2/test/test_params.cpp:7:31: fatal error: openrave/openrave.h: No such file or directory
 #include <openrave/openrave.h>
                               ^
compilation terminated.
/src/comps/cbirrt2/test/test_wam7_unconstrained.cpp:7:31: fatal error: openrave/openrave.h: No such file or directory
 #include <openrave/openrave.h>
                               ^
compilation terminated.
/src/comps/cbirrt2/test/test_wam7_constrained.cpp:7:31: fatal error: openrave/openrave.h: No such file or directory
 #include <openrave/openrave.h>
                               ^
compilation terminated.

This is necessary to be consistent with most of the other planners in PrPy.

#9 added support for baked collision detection. Upon succeeding, CBiRRT deletes the baked collision checking structures. This means that calling Plan again will result in a SEGFAULT. See personalrobotics/or_ompl#67 for more information.