The Open Motion Planning Library (OMPL), mirror of:
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The Open Motion Planning Library (OMPL)

Linux Build Status Windows Build status

This is, an extended version of OMPL that adds support for mesh loading and collision checking as well as a simple GUI.

Visit the installation page for detailed installation instructions. has the following required dependencies:'s build system will attempt to automatically download and build Assimp and FCL if not already installed.

The following dependencies are optional:

  • PyQt (for GUI)
  • PyOpenGL (for GUI)
  • Py++ (needed to generate Python bindings)
  • ODE (needed to compile support for planning using the Open Dynamics Engine)
  • Doxygen (needed to create a local copy of the documentation at
  • Eigen (needed for an informed sampling technique to improve the optimization of path length and for the Vector Field RRT planner)

Once dependencies are installed, you can build on Linux, OS X, and MS Windows. Go to the top-level directory of and type the following commands:

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want to use the GUI or Python bindings
make -j 4 # replace "4" with the number of cores on your machine