OMPL.JAX

⚠️ Hey there! The project is still under construction...

Solve motion planning problems in python in millisecond!

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Benchmark Results on AMD Ryzen 5 5600X:
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Number of runs:  100
Mean time:       42.35 ms
Std deviation:   41.06 ms
Min:             5.13 ms
25%:             16.30 ms
50%:             28.53 ms
75%:             56.85 ms
95%:             132.52 ms
Max:             260.65 ms
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TODO

• Clearer README
• Pre-release OMPL nanobind
• Improve robot self-collision checking accuracy (a problem originating from pyroki)
• Implement path simplification
• Add support for kinodynamic paths
• Add support for constraint projections

Acknowledgements

This project is inspired by:

• OMPL: https://ompl.kavrakilab.org/
• Pyroki: https://github.com/chungmin99/pyroki