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

Tested with:
Python 3.8
Ubuntu18.04

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

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

Just install pybullet normally.

pip install pybullet

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

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.