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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="https://moveit.ros.org">MoveIt!</a> provides motion planning functionality in <ahref="https://www.ros.org">ROS</a>. Robots are described by <ahref="https://wiki.ros.org/urdf">URDF files</a>, which describe the robot's geometry, kinematics, and additional robot information. MoveIt! can load such files, create appropriate state spaces for user-defined joint groups (e.g., “left arm,” “right leg,” “upper body,” “whole body,” etc.), and call OMPL planners to find feasible paths. There is support for inverse kinematics, which makes is possible to, e.g, include end-effector constraints. The paths produced by OMPL are translated by MoveIt! into dynamically feasible trajectories. The MoveIt! setup wizard will automatically discover self-collisions in a pre-processing phase. The environment can either be provided in the form of collection of geometric objects (triangles, spheres, cylinders, etc.), a point cloud (obtained from a RGBD sensor), or a combination of both. The adjacent video is a montage of MoveIt!'s capabilities in 2017. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/0og1SaZYtRc"></iframe></div></div></div><h1><aclass="anchor" id="integration_openrave"></a>
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OpenRAVE</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://openrave.org">OpenRAVE</a> is a lightweight simulation and planning environment. It does not explicitly support OMPL, but it has a plugin architecture that makes it possible to add new planning algorithms. <ahref="http://mkoval.org">Michael Koval</a> has written a <ahref="https://github.com/personalrobotics/or_ompl">plugin called or_ompl</a> which allows you to use any of the OMPL planners with OpenRAVE. It also exposes OMPL's path simplification routines to OpenRAVE. The adjacent video outlines several key features of the plugin. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/6qRRbvNzHG8"></iframe></div></div></div><h1><aclass="anchor" id="integration_copelliasim"></a>
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CoppelliaSim</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://coppeliarobotics.com">CoppelliaSim</a> is a modular, generic and general purpose robot simulation framework that offers various tools related to robotics (4 physics engines, collision detection, minimum distance calculation, proximity sensor simulation, vision sensor simulation, full FK/IK kinematic solver, etc.), with various kinds of interfaces (ROS, remote API, plug-ins, add-ons) and language support: C/C++, Python, Java, Matlab, Octave, Lua. It is built on a distributed control architecture, allowing virtually any number of scripts running in parallel and controlling various aspects of a simulation. The OMPL interface for V-REP was implemented via a plug-in wrapping the OMPL functionality, and offering that functionality via scripting functions. This allows to quickly test various scenarios, without the need to recompile/load test code over and over again. In combination with V-REP's kinematic functionality, complex movement sequences can easily be computed: e.g. V-REP can also quickly compute several valid robot configurations for a desired end-effector pose. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/JAs2yciPjvM"></iframe></div></div></div><h1><aclass="anchor" id="integration_morse"></a>
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CoppeliaSim</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://coppeliarobotics.com">CoppeliaSim</a> is a modular, generic and general purpose robot simulation framework that offers various tools related to robotics (4 physics engines, collision detection, minimum distance calculation, proximity sensor simulation, vision sensor simulation, full FK/IK kinematic solver, etc.), with various kinds of interfaces (ROS, remote API, plug-ins, add-ons) and language support: C/C++, Python, Java, Matlab, Octave, Lua. It is built on a distributed control architecture, allowing virtually any number of scripts running in parallel and controlling various aspects of a simulation. The OMPL interface for V-REP was implemented via a plug-in wrapping the OMPL functionality, and offering that functionality via scripting functions. This allows to quickly test various scenarios, without the need to recompile/load test code over and over again. In combination with V-REP's kinematic functionality, complex movement sequences can easily be computed: e.g. V-REP can also quickly compute several valid robot configurations for a desired end-effector pose. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/JAs2yciPjvM"></iframe></div></div></div><h1><aclass="anchor" id="integration_morse"></a>
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MORSE</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://morse-simulator.github.io">The Modular OpenRobots Simulation Engine (MORSE)</a> is a generic simulator for academic robotics. It is implemented as an extension for Blender, a 3D modeling program. Blender includes a game engine which uses the Bullet physics simulator under the hood. MORSE includes many simulated sensors, actuators, and robot models. Caleb Voss, as part of a Google Summer of Code project, developed <ahref="https://ompl.kavrakilab.org/morse.html">a plugin for Blender/MORSE</a> that adds planning functionality. The adjacent video shows an example of what can be produced with this plugin. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://player.vimeo.com/video/71580831?title=0&byline=0&portrait=0&color=ffffff&autoplay=0&loop=1"></iframe></div></div></div><h1><aclass="anchor" id="integration_kautham"></a>
<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="https://moveit.ros.org">MoveIt!</a> provides motion planning functionality in <ahref="https://www.ros.org">ROS</a>. Robots are described by <ahref="https://wiki.ros.org/urdf">URDF files</a>, which describe the robot's geometry, kinematics, and additional robot information. MoveIt! can load such files, create appropriate state spaces for user-defined joint groups (e.g., “left arm,” “right leg,” “upper body,” “whole body,” etc.), and call OMPL planners to find feasible paths. There is support for inverse kinematics, which makes is possible to, e.g, include end-effector constraints. The paths produced by OMPL are translated by MoveIt! into dynamically feasible trajectories. The MoveIt! setup wizard will automatically discover self-collisions in a pre-processing phase. The environment can either be provided in the form of collection of geometric objects (triangles, spheres, cylinders, etc.), a point cloud (obtained from a RGBD sensor), or a combination of both. The adjacent video is a montage of MoveIt!'s capabilities in 2017. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/0og1SaZYtRc"></iframe></div></div></div><h1><aclass="anchor" id="integration_openrave"></a>
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OpenRAVE</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://openrave.org">OpenRAVE</a> is a lightweight simulation and planning environment. It does not explicitly support OMPL, but it has a plugin architecture that makes it possible to add new planning algorithms. <ahref="http://mkoval.org">Michael Koval</a> has written a <ahref="https://github.com/personalrobotics/or_ompl">plugin called or_ompl</a> which allows you to use any of the OMPL planners with OpenRAVE. It also exposes OMPL's path simplification routines to OpenRAVE. The adjacent video outlines several key features of the plugin. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/6qRRbvNzHG8"></iframe></div></div></div><h1><aclass="anchor" id="integration_copelliasim"></a>
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CoppelliaSim</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://coppeliarobotics.com">CoppelliaSim</a> is a modular, generic and general purpose robot simulation framework that offers various tools related to robotics (4 physics engines, collision detection, minimum distance calculation, proximity sensor simulation, vision sensor simulation, full FK/IK kinematic solver, etc.), with various kinds of interfaces (ROS, remote API, plug-ins, add-ons) and language support: C/C++, Python, Java, Matlab, Octave, Lua. It is built on a distributed control architecture, allowing virtually any number of scripts running in parallel and controlling various aspects of a simulation. The OMPL interface for V-REP was implemented via a plug-in wrapping the OMPL functionality, and offering that functionality via scripting functions. This allows to quickly test various scenarios, without the need to recompile/load test code over and over again. In combination with V-REP's kinematic functionality, complex movement sequences can easily be computed: e.g. V-REP can also quickly compute several valid robot configurations for a desired end-effector pose. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/JAs2yciPjvM"></iframe></div></div></div><h1><aclass="anchor" id="integration_morse"></a>
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CoppeliaSim</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://coppeliarobotics.com">CoppeliaSim</a> is a modular, generic and general purpose robot simulation framework that offers various tools related to robotics (4 physics engines, collision detection, minimum distance calculation, proximity sensor simulation, vision sensor simulation, full FK/IK kinematic solver, etc.), with various kinds of interfaces (ROS, remote API, plug-ins, add-ons) and language support: C/C++, Python, Java, Matlab, Octave, Lua. It is built on a distributed control architecture, allowing virtually any number of scripts running in parallel and controlling various aspects of a simulation. The OMPL interface for V-REP was implemented via a plug-in wrapping the OMPL functionality, and offering that functionality via scripting functions. This allows to quickly test various scenarios, without the need to recompile/load test code over and over again. In combination with V-REP's kinematic functionality, complex movement sequences can easily be computed: e.g. V-REP can also quickly compute several valid robot configurations for a desired end-effector pose. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://www.youtube.com/embed/JAs2yciPjvM"></iframe></div></div></div><h1><aclass="anchor" id="integration_morse"></a>
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MORSE</h1>
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<divclass="row"><divclass="col-lg-7 col-md-6 col-sm-5"><ahref="http://morse-simulator.github.io">The Modular OpenRobots Simulation Engine (MORSE)</a> is a generic simulator for academic robotics. It is implemented as an extension for Blender, a 3D modeling program. Blender includes a game engine which uses the Bullet physics simulator under the hood. MORSE includes many simulated sensors, actuators, and robot models. Caleb Voss, as part of a Google Summer of Code project, developed <ahref="https://ompl.kavrakilab.org/morse.html">a plugin for Blender/MORSE</a> that adds planning functionality. The adjacent video shows an example of what can be produced with this plugin. </div><divclass="col-lg-5 col-md-6 col-sm-7"><divclass="embed-responsive embed-responsive-16by9"><iframesrc="https://player.vimeo.com/video/71580831?title=0&byline=0&portrait=0&color=ffffff&autoplay=0&loop=1"></iframe></div></div></div><h1><aclass="anchor" id="integration_kautham"></a>
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