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Use the Cartesian waypoint seed when solving IK in the OMPL move profile #763

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Use the Cartesian waypoint seed when solving IK in the OMPL move profile #763

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89c78a9
Use the Cartesian waypoint seed when solving IK in the OMPL move profile
munich35 Jul 17, 2026
a812033
Use the waypoint seed preferentially with a zero-seed fallback
Jul 21, 2026
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6 changes: 4 additions & 2 deletions ...nners/ompl/include/tesseract/motion_planners/ompl/profile/ompl_real_vector_move_profile.h
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Original file line number Diff line number Diff line change
Expand Up @@ -98,12 +98,14 @@ class OMPLRealVectorMoveProfile : public OMPLMoveProfile
static void applyGoalStates(ompl::geometric::SimpleSetup& simple_setup,
const tesseract::kinematics::KinGroupIKInput& ik_input,
const tesseract::kinematics::KinematicGroup& manip,
tesseract::collision::DiscreteContactManager& contact_checker);
tesseract::collision::DiscreteContactManager& contact_checker,
const Eigen::VectorXd& seed = Eigen::VectorXd());

static void applyStartStates(ompl::geometric::SimpleSetup& simple_setup,
const tesseract::kinematics::KinGroupIKInput& ik_input,
const tesseract::kinematics::KinematicGroup& manip,
tesseract::collision::DiscreteContactManager& contact_checker);
tesseract::collision::DiscreteContactManager& contact_checker,
const Eigen::VectorXd& seed = Eigen::VectorXd());

static void applyGoalStates(ompl::geometric::SimpleSetup& simple_setup,
const Eigen::VectorXd& joint_waypoint,
Expand Down
87 changes: 63 additions & 24 deletions motion_planners/ompl/src/profile/ompl_real_vector_move_profile.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract/environment/environment.h>

#include <tesseract/common/profile_plugin_factory.h>
#include <tesseract/common/joint_state.h>

namespace tesseract::motion_planners
{
Expand Down Expand Up @@ -193,7 +194,8 @@ std::unique_ptr<ompl::geometric::SimpleSetup> OMPLRealVectorMoveProfile::createS

contact_checker->setActiveCollisionObjects(kin_group->getActiveLinkNames());
tesseract::kinematics::KinGroupIKInput ik_input(tcp_frame_cwp, start_mi.working_frame, start_mi.tcp_frame);
applyStartStates(*simple_setup, ik_input, *kin_group, *contact_checker);
const Eigen::VectorXd seed = cur_wp.hasSeed() ? cur_wp.getSeed().position : Eigen::VectorXd();
applyStartStates(*simple_setup, ik_input, *kin_group, *contact_checker, seed);
}
else
{
Expand Down Expand Up @@ -222,7 +224,8 @@ std::unique_ptr<ompl::geometric::SimpleSetup> OMPLRealVectorMoveProfile::createS

contact_checker->setActiveCollisionObjects(kin_group->getActiveLinkNames());
tesseract::kinematics::KinGroupIKInput ik_input(tcp_frame_cwp, end_mi.working_frame, end_mi.tcp_frame);
applyGoalStates(*simple_setup, ik_input, *kin_group, *contact_checker);
const Eigen::VectorXd seed = cur_wp.hasSeed() ? cur_wp.getSeed().position : Eigen::VectorXd();
applyGoalStates(*simple_setup, ik_input, *kin_group, *contact_checker, seed);
}
else
{
Expand All @@ -235,21 +238,38 @@ std::unique_ptr<ompl::geometric::SimpleSetup> OMPLRealVectorMoveProfile::createS
void OMPLRealVectorMoveProfile::applyGoalStates(ompl::geometric::SimpleSetup& simple_setup,
const tesseract::kinematics::KinGroupIKInput& ik_input,
const tesseract::kinematics::KinematicGroup& manip,
tesseract::collision::DiscreteContactManager& contact_checker)
tesseract::collision::DiscreteContactManager& contact_checker,
const Eigen::VectorXd& seed)
{
/** @todo Need to add Descartes pose sample to ompl profile */
const auto dof = manip.numJoints();
tesseract::common::KinematicLimits limits = manip.getLimits();

/** @brief Making this thread_local does not help because it is not called enough during planning */
tesseract::kinematics::IKSolutions joint_solutions;
manip.calcInvKin(joint_solutions, { ik_input }, Eigen::VectorXd::Zero(dof));
auto goal_states = std::make_shared<ompl::base::GoalStates>(simple_setup.getSpaceInformation());
std::vector<tesseract::collision::ContactResultMap> contact_map_vec(static_cast<std::size_t>(joint_solutions.size()));

for (std::size_t i = 0; i < joint_solutions.size(); ++i)
{
Eigen::VectorXd& solution = joint_solutions[i];
std::vector<tesseract::collision::ContactResultMap> contact_map_vec;

// Use the seed attached to the Cartesian waypoint when one is provided, otherwise fall back to the
// zero seed. For seed-dependent solvers that return a single solution (e.g. KDL-LMA), a hardcoded
// zero seed can converge to an out-of-limits branch of the solution manifold; the limit filter then
// discards it and an otherwise-reachable goal ends up with an empty solution set.
//
// The waypoint seed is used PREFERENTIALLY, not exclusively: a seed produced upstream without
// collision awareness (e.g. the simple planner's interpolation states) can equally steer a
// single-solution solver onto a branch that is in collision. If the seeded pass contributes no
// valid goal state, a second pass with the legacy zero seed recovers the previous behavior so a
// reachable goal is never lost to an unlucky seed.
const bool has_wp_seed = (seed.size() == static_cast<Eigen::Index>(dof));

auto addStatesForSeed = [&](const Eigen::VectorXd& ik_seed) {
/** @brief Making this thread_local does not help because it is not called enough during planning */
tesseract::kinematics::IKSolutions joint_solutions;
manip.calcInvKin(joint_solutions, { ik_input }, ik_seed);
contact_map_vec.reserve(contact_map_vec.size() + joint_solutions.size());

for (std::size_t i = 0; i < joint_solutions.size(); ++i)
{
Eigen::VectorXd& solution = joint_solutions[i];
contact_map_vec.emplace_back();

// Check limits
if (tesseract::common::satisfiesLimits<double>(solution, limits.joint_limits))
Expand All @@ -264,7 +284,7 @@ void OMPLRealVectorMoveProfile::applyGoalStates(ompl::geometric::SimpleSetup& si
// Get discrete contact manager for testing provided start and end position
// This is required because collision checking happens in motion validators now
// instead of the isValid function to avoid unnecessary collision checks.
if (!checkStateInCollision(contact_map_vec[i], contact_checker, manip, solution))
if (!checkStateInCollision(contact_map_vec.back(), contact_checker, manip, solution))
{
{
ompl::base::ScopedState<> goal_state(simple_setup.getStateSpace());
Expand All @@ -285,7 +305,12 @@ void OMPLRealVectorMoveProfile::applyGoalStates(ompl::geometric::SimpleSetup& si
goal_states->addState(goal_state);
}
}
}
}
};

addStatesForSeed(has_wp_seed ? seed : Eigen::VectorXd::Zero(dof));
if (has_wp_seed && !goal_states->hasStates() && !seed.isZero(0.0))
addStatesForSeed(Eigen::VectorXd::Zero(dof));

if (!goal_states->hasStates())
{
Expand Down Expand Up @@ -343,22 +368,31 @@ void OMPLRealVectorMoveProfile::applyGoalStates(ompl::geometric::SimpleSetup& si
void OMPLRealVectorMoveProfile::applyStartStates(ompl::geometric::SimpleSetup& simple_setup,
const tesseract::kinematics::KinGroupIKInput& ik_input,
const tesseract::kinematics::KinematicGroup& manip,
tesseract::collision::DiscreteContactManager& contact_checker)
tesseract::collision::DiscreteContactManager& contact_checker,
const Eigen::VectorXd& seed)
{
/** @todo Need to add Descartes pose sampler to ompl profile */
/** @todo Need to also provide the seed instruction to use here */
const auto dof = manip.numJoints();
tesseract::common::KinematicLimits limits = manip.getLimits();

/** @brief Making this thread_local does not help because it is not called enough during planning */
tesseract::kinematics::IKSolutions joint_solutions;
manip.calcInvKin(joint_solutions, { ik_input }, Eigen::VectorXd::Zero(dof));
bool found_start_state = false;
std::vector<tesseract::collision::ContactResultMap> contact_map_vec(joint_solutions.size());
std::vector<tesseract::collision::ContactResultMap> contact_map_vec;

for (std::size_t i = 0; i < joint_solutions.size(); ++i)
{
Eigen::VectorXd& solution = joint_solutions[i];
// Seed handling mirrors applyGoalStates: waypoint seed preferentially, zero-seed second pass as
// the fallback when the seeded pass contributes no valid start state (see the goal-side comment
// for the full rationale).
const bool has_wp_seed = (seed.size() == static_cast<Eigen::Index>(dof));

auto addStatesForSeed = [&](const Eigen::VectorXd& ik_seed) {
/** @brief Making this thread_local does not help because it is not called enough during planning */
tesseract::kinematics::IKSolutions joint_solutions;
manip.calcInvKin(joint_solutions, { ik_input }, ik_seed);
contact_map_vec.reserve(contact_map_vec.size() + joint_solutions.size());

for (std::size_t i = 0; i < joint_solutions.size(); ++i)
{
Eigen::VectorXd& solution = joint_solutions[i];
contact_map_vec.emplace_back();

// Check limits
if (tesseract::common::satisfiesLimits<double>(solution, limits.joint_limits))
Expand All @@ -373,7 +407,7 @@ void OMPLRealVectorMoveProfile::applyStartStates(ompl::geometric::SimpleSetup& s
// Get discrete contact manager for testing provided start and end position
// This is required because collision checking happens in motion validators now
// instead of the isValid function to avoid unnecessary collision checks.
if (!checkStateInCollision(contact_map_vec[i], contact_checker, manip, solution))
if (!checkStateInCollision(contact_map_vec.back(), contact_checker, manip, solution))
{
found_start_state = true;
{
Expand All @@ -395,7 +429,12 @@ void OMPLRealVectorMoveProfile::applyStartStates(ompl::geometric::SimpleSetup& s
simple_setup.addStartState(start_state);
}
}
}
}
};

addStatesForSeed(has_wp_seed ? seed : Eigen::VectorXd::Zero(dof));
if (has_wp_seed && !found_start_state && !seed.isZero(0.0))
addStatesForSeed(Eigen::VectorXd::Zero(dof));

if (!found_start_state)
{
Expand Down