[OMPL] also check constraints in StateValidityCallback (backport #3586) #3611
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(cherry picked from commit ca2bb1b)
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## jazzy #3611 +/- ##
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- Coverage 46.21% 45.81% -0.40%
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Files 718 718
Lines 62675 59110 -3565
Branches 7589 7588 -1
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- Hits 28957 27073 -1884
+ Misses 33554 31872 -1682
- Partials 164 165 +1 ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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EzraBrooks
approved these changes
Nov 17, 2025
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This allows the IK solver to continue finding a valid solution, which also satisfies the kinematic constraints.
In the old situation the IK solver would return a solution, which it thinks is valid, but it is not. The sampler will keep calling the IK solver. Though for IK solvers, which are not that random. There is a high chance of returning the same solution over and over. Which keeps failing the constraints.
By checking the constraints in the callback the IK solver will continue and return a valid solution.
Please backport to Jazzy and others
Checklist
This is an automatic backport of pull request #3586 done by [Mergify](https://mergify.com).