How to plan trajectory using only Graph Planner?

[chenzyn]

When I set enable_graph=True, enable_opt=False, the result shows that result.graph_plan is none.

[chenzyn]

But when I set enable_graph=False, enable_opt=True, the result result.optimized_plan is not None.

[balakumar-s]

For both cases, you can get trajectory with: q_traj = result.get_interpolated_plan()

[chenzyn]

When setting the parameters as enable_graph=True and enable_opt=False, the number of successful instances is 0. However, when setting enable_graph=False and enable_opt=True, the number of successful instances is normal.

[balakumar-s]

What robot are you using? Can you share a python example for us to debug?

[jih189]

result = motion_gen.plan_single_js(start_state, goal_state, MotionGenPlanConfig(
enable_graph=True,
enable_opt=False,
use_nn_ik_seed=False,
need_graph_success=False,
max_attempts=1,
timeout=10.0,
enable_finetune_trajopt=False,
parallel_finetune=False,
finetune_attempts=0
)
)
end_time = time.time()
print("Time taken for planning: ", end_time - start_time)

print all time taken

print("Time taken for graph_time: ", result.graph_time)
print("Time taken for finetune_time: ", result.finetune_time)
print("Time taken for trajopt_time: ", result.trajopt_time)
print("Number of attempts: ", result.attempts)

check the number of valid states in graph

traj = result.get_interpolated_plan()