Before solving a motion planning problem, an environment and robot must be configured. This can be accomplished by either selecting a pre-configured problem, or by uploading custom Collada (.dae) files. If a custom problem is to be used, the user must enter position and rotation information to set up the environment. The bounding box for the problem can be estimated by the application, or entered manually by the user.
To solve the problem, a planner must also be configured. The KPIECE planner is selected by default, but can be changed in the Planner tab. When a planner is selected, its parameters will be set to their default values, which can be altered by the user.
When the robot, environment, and planner have been configured, the problem is ready to solve. The problem can be named and a maximum time limit can be set. Clicking solve will send the problem to be processed and the results will be displayed when solving is complete.
When the robot and environment files have been selected (either by picking a pre-configured problem or uploading custom files), they will be displayed in the visualization pane.
Once the problem has been solved, a green line is displayed to indicate the solution path. The path can be visualized either by animating a robot along the path, or by viewing a static robot at each point on the path.
The axis helper and bounding box can be toggled on and off in the tab.
Rotate | Left-click and drag |
Pan | Right-click and drag |
Zoom In/Out | Scroll Up/Down |
Red | X-Axis |
Green | Y-Axis |
Blue | Z-Axis |
The benchmarking functionality of OMPL Web allows a user to repeatedly solve a problem n times with multiple planners in order to compare performance. On the Benchmarking page, the user can add and configure the planners to be benchmarked. Then, they can submit a job to the server and be notified via email when the job completes.
Time Limit | The amount of time (seconds) for each plan computation. |
Memory Limit | The maximum amount of memory (MB) for each planner. |
Run Count | The number of times to repeat the experiment for each planner. |
A maximum limit is enforced on the benchmarking job parameters; the following condition must be satisfied: Time × Runs × Number of Planners < 100,000
Open configure problem page | ctrl + c |
Open benchmarking page | ctrl + b |
Solve problem | ctrl + s |
Select custom environment | ctrl + e |
Select custom robot | ctrl + r | Upload custom configuration file | ctrl + o |