Merge pull request #178 from empriselab/justin/ompl-optional

Make OMPL an optional installation

README.md

@@ -81,6 +81,20 @@ You can perform common Unity operations in this window:
 
 ![test_scene_py_img](./test_scene.png)
 
+
+## (Optional): OMPL Installation
+
+The Open Motion Planning Library (OMPL) is a flexible, open-source library designed for solving complex motion planning problems for robots and other autonomous systems using state-of-the-art planning algorithms. It is an optional function that will not affect your regular use if not installed.
+
+If you would like to install OMPL, and you've never installed it before, please run the following command:
+
+```
+python3 -m pip install https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp310-cp310-manylinux_2_28_x86_64.whl
+```
+
+Otherwise, make sure you install the python bindings for your current OMPL version.
+
+If that command doesn't work for you, please go to the OMPL Releases page and find the corresponding python version you are using (the above is for python 3.10).
 
 # Get Started with the Examples
 Check the examples in the `pyrcareworld/pyrcareworld/demo/examples` folder. 

pyrcareworld/pyrcareworld/attributes/__init__.py

@@ -22,9 +22,14 @@
 from pyrcareworld.attributes.bathing_score_attr import BathingScoreAttr
 from pyrcareworld.attributes.dressing_score_attr import DressingScoreAttr
 from pyrcareworld.attributes.sponge_attr import SpongeAttr
-from pyrcareworld.attributes.omplmanager_attr import OmplManagerAttr
 from pyrcareworld.attributes.sponge_score_attr import SpongeScoreAttr
 
+# THIS IS AN OPTIONAL FUNCTION, WON'T AFFECT YOUR USE
+try:
+  from pyrcareworld.attributes.omplmanager_attr import OmplManagerAttr
+except ImportError:
+  print("""Unable to import OmplManagerAttr. OMPL is an optional function that likely will not affect your use.""")
+
 
 attrs = {
 "BaseAttr": BaseAttr,
@@ -50,5 +55,7 @@
 "DressingScoreAttr": DressingScoreAttr,
 "SpongeAttr": SpongeAttr,
 "PersonRandomizerAttr": PersonRandomizerAttr,
-"OmplManagerAttr": OmplManagerAttr
 }
+
+if "OmplManagerAttr" in locals():
+  attrs["OmplManagerAttr"] = OmplManagerAttr