Ignoring failures during motion planning

[BengineerZ]

I am currently working on an application which is highly constrained at the start and end waypoints of motion planning - usually I end up with IK failures. Generally, some of these constraints can be safely ignored, and robot can still execute the trajectory. The issue is that currently, motion planning in these settings returns failure.

• Given that the system is optimization-based, is there any way of ignoring/silencing these failures and extracting the optimized trajectory, even if that trajectory technically 'collides' in terms of the environment collision spheres?
• How could one achieve this with the currently available functions in curobo?
• Does the system support this at all? Would this require any custom implementations?
• What would a minimal configuration look like that does this?

TLDR: how to ignore failures for motion planning and still return the optimized trajectory?