OMPL
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    • Primer
    • Installation
    • Tutorials
    • Demos
    • Python Bindings
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    • Benchmarking Planners
    • Available State Spaces
    • Optimal Planning
    • Constrained Planning
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    • MoveIt!
    • Planner Arena
    • Japanese Introduction to OMPL
    • Japanese OMPL Tutorial
    • ICRA 2013 Tutorial
    • IROS 2011 Tutorial
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Tutorials

Below we include a number of tutorials we believe are useful for understanding how OMPL works, grouped by level of difficulty. Users are encouraged to look at the demos as well.

Beginner

  • Geometric planning for a rigid body in 3D
  • Setting up state validity checking
  • Working with states and state spaces
  • Using existing samplers and creating new ones
  • Visualizing solution paths
  • Benchmarking planners
  • Optimal planning
  • Constrained planning

Intermediate

  • Generic instructions for setting up a planning context
  • Implementing new state spaces
  • Representing goals
  • Using ODESolver for Planning with Controls
  • Defining optimization objectives for optimal planning

Advanced

  • Adding a new planner
  • Creating Python bindings for a new planner
  • Setting up a projection
  • Using OMPL with the Morse simulator

Physical and Biological Computing Group • Department of Computer Science • Rice University
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