By combining the Open Motion Planning Library (ompl.kavrakilab.org/) with the Modular OpenRobots Simulation Engine (openrobots.org/wiki/morse/), we create an environment in which the user can easily model and solve physics-based motion-planning problems for robots.

This video shows the solution to a demo problem which requires the green cube to be pushed onto the red 'X'. It is necessary for the robot to drive off the ramp quickly, but we leave OMPL to discover this for itself. OMPL found its solution by interfacing with MORSE to control the robot and searching for the correct sequence of inputs to accomplish the goal. Here we play back the discovered solution path.

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