<s>
OMPL	B-Language
(	O
Open	B-Language
Motion	I-Language
Planning	I-Language
Library	I-Language
)	O
is	O
a	O
software	O
package	O
for	O
computing	O
motion	O
plans	O
using	O
sampling-based	O
algorithms	O
.	O
</s>
<s>
For	O
example	O
,	O
OMPL	B-Language
is	O
integrated	O
with	O
ROS	B-Application
and	O
.	O
</s>
<s>
In	O
2012	O
OMPL	B-Language
won	O
the	O
Grand	O
Prize	O
at	O
the	O
Open	O
Source	O
Software	O
World	O
Challenge	O
.	O
</s>
<s>
OMPL	B-Language
is	O
written	O
in	O
C++	O
but	O
also	O
offers	O
Python	O
bindings	O
.	O
</s>
<s>
The	O
base	O
functionality	O
OMPL	B-Language
provides	O
for	O
planners	O
is	O
thread	B-Operating_System
safe	I-Operating_System
.	O
</s>
<s>
Adding	O
new	O
motion	O
planning	O
algorithms	O
to	O
OMPL	B-Language
is	O
easy	O
,	O
thus	O
facilitating	O
comparisons	O
between	O
existing	O
algorithms	O
and	O
evaluations	O
of	O
new	O
ideas	O
.	O
</s>
<s>
One	O
of	O
the	O
design	O
goals	O
for	O
OMPL	B-Language
is	O
clarity	O
of	O
concepts	O
used	O
.	O
</s>
<s>
Such	O
a	O
design	O
facilitates	O
using	O
OMPL	B-Language
for	O
education	O
.	O
</s>
<s>
Furthermore	O
,	O
the	O
authors	O
provide	O
free	O
course	O
materials	O
and	O
assignments	O
for	O
use	O
in	O
conjunction	O
with	O
OMPL	B-Language
.	O
</s>
<s>
The	O
first	O
use	O
for	O
OMPL	B-Language
was	O
actually	O
at	O
Willow	O
Garage	O
,	O
where	O
the	O
library	O
was	O
started	O
,	O
to	O
do	O
motion	O
planning	O
for	O
the	O
PR2	O
arms	O
.	O
</s>
<s>
OMPL	B-Language
includes	O
tools	O
for	O
benchmarking	O
,	O
providing	O
a	O
common	O
platform	O
for	O
easily	O
developing	O
and	O
testing	O
new	O
algorithms	O
.	O
</s>
