ompl/ompl

Health v2 · maintenance only

Flags: no_license

Adoption not part of the score

2134 stars · 706 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

OMPL is an open-source C++ library of over 40 sampling-based motion planning algorithms (RRT-Connect, PRM, RRT*, KPIECE, etc.) across more than 20 state spaces, with Python bindings via Nanobind. It is deliberately decoupled from collision checking and visualization, making it the default planning backend in ROS/MoveIt and integrable into many robot software systems.

Use cases

• plan collision-free paths for robot arms
• compute motion plans for mobile robots
• plan paths for kinematically constrained manipulators
• benchmark and compare motion planning algorithms
• generate motion planning datasets for learning-based planners
• rapid millisecond replanning with SIMD-accelerated collision checking
• integrate motion planning into ROS/MoveIt pipelines
• prototype custom planners and state spaces in Python or C++

When to choose

• you need sampling-based motion planning for robots in C++ or Python
• you want a mature, well-tested planner library that integrates with ROS/MoveIt
• you need many planner algorithms and state spaces to experiment with or benchmark
• you need high-performance planning via the VAMP SIMD backend
• you are doing research on task and motion planning or learning for planning

When to avoid

• you need built-in collision checking, visualization, or robot kinematics (OMPL expects you to supply these)
• you need optimal control or trajectory optimization rather than sampling-based planning
• you need a turnkey robotics stack without ROS or simulator integration
• your project requires a permissive license without review (license is custom/non-standard)

Facets

library · maturity stable

simulation machine-learning benchmarking robotics autonomous-vehicles simulation windows cpp python cross-platform motion-planning sampling-based-planning rrt prm robotics vamp moveit collision-avoidance kinodynamic-planning algorithms linux macos

Member repositories

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