This version does not work

@amdshameer now you're there are some runtime errors.
They are straight forward and the errors are

    Info:    No planner specified. Using default.
    Info:    Attempting to use default projection.
    Debug:   Planner range detected to be 1.006980
    Warning: Skipping invalid start state (invalid bounds)
             at line 259 in /home/alex/src/omplapp/ompl/src/ompl/base/src/Planner.cpp
    Debug:   Discarded start state Compound state [
    RealVectorState [-4 -4 -4]
    SO3State [0 0 0 0]
    ]

    Error:   Motion planning start tree could not be initialized!
             at line 100 in /home/alex/src/omplapp/ompl/src/ompl/geometric/planners/kpiece/src/LBKPIECE1.cpp
    Info:    No solution found after 0.001303 seconds