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.
The planning problem in this video is a puzzle in which two car-like robots must exchange places. The hard part is that they can't just drive toward their respective goal states because there is a ball blocking the path. In order to reach the goal, the blue robot must be the one to push the ball through the intersection, allowing the robots to pass each other. After modelling this environment in Blender, we give OMPL a description of the goal, but no hint about accomplishing it. OMPL then uses MORSE to simulate the robots' behavior in response to control inputs as it searches for a solution path, which is played back in this video.
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