OMPL 2.0 Workshop

This repository hosts the demo code for the OMPL 2.0 workshop. The workshop contains two demos, a minimal manipulator planning demo in ompl_manip and a SIMD accelerated manipulator planning demo in vamp.

System Requirements

• Linux, MacOS, or Windows with a WSL 2 Ubuntu distribution (Linux and MacOS recommended)
• Python version between 3.11 to 3.13, pip
• git
• Eigen

On WSL/Ubuntu (other distribution package managers offer similar packages)

sudo apt install libeigen3-dev

On MacOS

brew install eigen

⚠️ Note for WSL users

The workshop uses rerun for visualization. rerun is known to have some issues working out of the box on WSL, so it is recommended to test your rerun installation ahead of the tutorial and follow the instructions in https://rerun.io/docs/getting-started/install-rerun/troubleshooting#running-on-wsl2-ubuntu.

We recommend installing the Vulkan drivers:

sudo add-apt-repository ppa:kisak/kisak-mesa
sudo apt-get update
sudo apt-get install -y mesa-vulkan-drivers

Then testing your installation using the following:

rerun --renderer=vulkan

And during the tutorial running both tutorial scripts with WGPU_BACKEND=vulkan, as shown below:

WGPU_BACKEND=vulkan python <script_dir>/<script_name>.py

Setup

1. Clone this repository

git clone https://github.com/KavrakiLab/ompl-workshop.git
cd ompl-workshop

2. Create and source a virtual environment

python -m venv env
source env/bin/activate

3. Install dependencies

python -m pip install -r requirements.txt