    def plan(self, goal, allowed_time = DEFAULT_PLANNING_TIME):
        '''
        plan a path to gaol from current robot state
        '''
        start = self.robot.get_cur_state()
        return self.plan_start_goal(start, goal, allowed_time=allowed_time)
plan a path to gaol from current robot state
pybullet_ompl/pb_ompl.py