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OMPL
Sampling-based motion-planning algorithms for robotic systems.
Motion planning & control
Software / Research
plainmp · HiroIshida
Very fast motion planning for articulated robot, through a bit of premature-optimization (C++ core with Python bindings) *less than 1ms for moderate problems
Overview
Very fast motion planning for articulated robot, through a bit of premature-optimization (C++ core with Python bindings) *less than 1ms for moderate problems
Inspect installation instructions, supported versions, examples and interfaces in the source. This directory does not claim the software has been installed or tested on your robot.
Project information
- Maintainer
- HiroIshida
- Primary language
- C++
- Repository code license
- Not specified
- Model-weight license
- Not recorded
- Dataset license
- Not recorded
- Hardware design license
- Not recorded
- Maintenance
- Not archived in the last recorded metadata
- Last observed repository push
- 2026-09-27
Code licenses do not automatically cover model weights, datasets or hardware designs. Unrecorded license details require confirmation with the publisher.
Documentation sections
- plainmp [](https://github.com/HiroIshida/plainmp/actions/workflows/build_and_test.yaml) [](https://github.com/HiroIshida/plainmp/actions/workflows/check_format.yaml) [](https://doi.org/10.5281/zenodo.14271046) [](https://pypi.org/project/plainmp)
- Performance example
- Installation and development (Ubuntu/macOS)
- Troubleshooting
- How to add a new robot model
- Note on motion validator of motion planning
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