OMPL ompl/ompl The Open Motion Planning Library. C++ 2141 VAMP KavrakiLab/vamp SIMD-accelerated sampling-based motion planning. C++ 476 pRRTC CoMMALab/pRRTC GPU-parallel RRT-Connect. Cuda 79 cricket CoMMALab/cricket Tracing compiler with CppAD and Pinocchio. C++ 51 foam CoMMALab/foam Convert URDF geometry to spheres. Python 186 DiffVineSimPy CoMMALab/DiffVineSimPy Physics-grounded differentiable simulation for soft growing robots. Python 3 ActVineSimPy CoMMALab/ActVineSimPy Automatically synthesize vine robots to solve mazes. Python 2 pyroffi CoMMALab/pyroffi A modular toolkit for robot kinematic optimization. Python 7 Robowflex KavrakiLab/robowflex Making MoveIt easy. C++ 136 MotionBenchMaker KavrakiLab/motion_bench_maker Generate and benchmark datasets for robot manipulation problems. C++ 111 CAPT KavrakiLab/capt Rust implementation of the Collision-Affording Point Tree for fast pointcloud collision checking. Rust 38 PYRE KavrakiLab/pyre SPARK and FLAME, two learning-for-motion-planning frameworks for high-DOF robots. C++ 26 HyperPlan KavrakiLab/hyperplan Motion planning hyperparameter optimization. Python 14