Software & Middleware

OMPL (Open Motion Planning Library)

OMPL (Open Motion Planning Library) is an open-source C++ library of sampling-based motion planning algorithms, including RRT, RRT*, PRM, and KPIECE, developed at Rice University's Kavraki Lab. OMPL deliberately excludes collision checking and robot models, operating over abstract configuration spaces, which lets frameworks like MoveIt supply the geometry and use OMPL as their default planning backend.

Why it matters for physical AI

A large share of real-world arm motions are still produced by sampling-based planners, and OMPL remains the reference implementation underlying manipulation stacks that learned policies must integrate with.