A guest post from Michael Koval at CMU:

The Personal Robotics Lab at CMU is excited to announce or_ompl, an OpenRAVE planner plugin that provides bindings for OMPL. This short video outlines several key features of the plugin:

In summary, or_ompl enables you to:

  • Plan in OpenRAVE using the full suite of OMPL geometric motion planners
  • Call OMPL’s optimal motion planners, like BIT*, PRM*, and RRT*, in an anytime fashion
  • Shortcut trajectories using OMPL’s geometric path simplifier
  • Easily expose new OMPL motion planners to OpenRAVE

The source code is BSD licensed and available on Github:


See the README for installation and usage instructions. Please do not hesitate to open an issue or pull request on Github if you have any issues.