Combining OMPL and MORSE to Enhance the Motion Planning Experience

by Caleb Voss for The Open Motion Planning Library

The Open Motion Planning Library (OMPL) can be used to plan paths for robots in environments with dynamics. The Modular OpenRobots Simulation Engine (MORSE) is an add-on for Blender that allows the user or other code to direct a robot in a realtime physics simulation. There is an opportunity to enhance both the functionality of MORSE and the user accessibility of OMPL by combining the two. This enables modeling, solving, and simulating a planning problem from the same interface.