pybullet_ompl

This repo provides interface to use OMPL for motion planning inside PyBullet. It uses OMPL python bindings.

Environment

Tested with:
Python 3.8
Ubuntu18.04

Installation instructions:

Install dependencies of OMPL

https://github.com/ompl/ompl/blob/main/doc/markdown/installPyPlusPlus.md

Install OMPL from source

It is very important that you compile ompl with the correct python version with the CMake flag.

git clone https://github.com/ompl/ompl.git
mkdir build/Release
cd build/Release
cmake ../.. -DPYTHON_EXEC=/path/to/python-X.Y # This is important!!! Make sure you are pointing to the correct python version.
make -j 4 update_bindings # replace "4" with the number of cores on your machine. This step takes some time.
make -j 4 # replace "4" with the number of cores on your machine

Install Pybullet

Just install pybullet normally.

pip install pybullet

Demo

Two examples are provided. This demo plans the arm motion of a Franka robot.

python examples/demo_franka.py

This demo plans whole-body motion of a planar 4-link snake-like robot.

python examples/demo_planar.py

Additional Information

1. Currently tested planners include PRM, RRT, RRTstar, RRTConnect, EST, FMT* and BIT*. But all planners in OMPL should work. Just add them in the set_planner API in PbOMPL class.
2. To work with other robot, you might need to inherit from PbOMPLRobot class in PbOMPL and override several functionalities. Refer to my_planar_robot.py for an example. Refer to demo_plannar.py for an example.