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OMPL

  • Software
  • Robot arms and industry
  • Library

OMPL is an open-source sampling-based motion planning library offering over 40 planning algorithms across more than 20 state spaces. It can be extended with custom planners and state spaces.

Source on GitHub: github.com/ompl/ompl (opens in a new tab). Facts read at commit 5b209a0 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 5b209a0 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides over 40 sampling-based planners, including RRT-Connect, PRM, KPIECE and RRT*.
  • Supports more than 20 state spaces, such as SE(3) and Euclidean space.
  • Custom planners can be added in Python or C++, and custom state spaces in C++.
  • Optionally uses VAMP, enabled by default, for SIMD-accelerated collision checking and planning in Python and C++.
  • Can use FLANN for nearest neighbor queries, and Spot for constructing finite automata from LTL formulae.
  • Can read and write YAML world descriptions in the PlanarManipulator demos via yaml-cpp.

Written by Robotheca from the project's README (opens in a new tab) at commit 5b209a0.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
It lists required dependencies (Boost 1.68 or higher, CMake 3.12 or higher, Eigen 3.3 or higher) and says it builds on Linux, macOS and MS Windows.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
26 Sept 2026 on main
Latest release
OMPL 2.0.2 (14 Aug 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.