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 (see also the high-level introduction)
• Constrained planning (see also the high-level introduction)
• Multilevel planning (see also the high-level introduction)

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
• Parallel optimal planning using CForest

Advanced

• Adding a new planner
• Creating Python bindings for a new planner
• Setting up a projection