Coppelia OMPL plugin help

[pr2001]

hello guys
i have a task that i need to do with a robotic arm
basically it needs to follow a path that is not fixed
what i would like to do is give coordinates via matlab api( for example the start and end) and have coppelia creat a path and check for colision...
i dont even know if its possible, but from what i understand ompl can help with that.
I would like to ask how to use OMPL?
do i need to install in windows? i dont see the plugin in the files of installation.

[fferri]

Yes it is possible.

Start and goal states are specified with simOMPL.setStartState and simOMPL.setGoalStates or related functions.

OMPL plugin is shipped with CoppeliaSim, file is called libsimOMPL.so/libsimOMPL.dylib/simOMPL.dll