Introduction

oxmpl is a sampling-based motion planning library written in Rust, inspired by the structure and concepts of the Open Motion Planning Library (OMPL).

It is NOT OMPL with Rust bindings.

It provides a flexible and type-safe Rust API for core planning algorithms and offers high-level Python and JavaScript/WASM bindings for rapid prototyping and integration into diverse robotics projects.

Key Features

• Safe & Fast: Built in Rust for memory safety and performance.
• Extensible Architecture: Core concepts like StateSpace, StateValidityChecker, and Planner are defined as traits, making the library highly extensible.
• Pythonic Bindings: A simple, easy-to-use Python API powered by PyO3 that allows users to define problem-specific logic (like collision checkers) in pure Python.
• JavaScript/WASM Bindings: Run your motion planning logic in the browser or Node.js with high performance.
• Inspired by OMPL: Follows the modular design of OMPL, making it familiar to those in the robotics community.