RoboPlan

June 25, 2026 ยท View on GitHub

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

Warning

This is an experimental repository! Until version 1.0 is released, expect some breaking changes.

Packages list

The main folders found in this repo are as follows.

  • docs : The documentation source.
  • roboplan : The core C++ library.
  • roboplan_simple_ik : A simple inverse kinematics (IK) solver.
  • roboplan_oink : A task-based Optimal Inverse Kinematics (OInK) solver.
  • roboplan_rrt : A Rapidly-exploring Random Tree (RRT) based motion planner.
  • roboplan_toppra : A wrapper around the TOPP-RA algorithm for trajectory timing.
  • roboplan_cartesian_planning : A Cartesian planner for following task-space paths.
  • roboplan_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • packaging : Files to help package wheels for release on PyPi.
Interactive inverse kinematics (IK) with Kinova Gen3 arm. Rapidly-exploring random tree (RRT) with dual Franka FR3 arms. Cartesian path planning with a UR5 arm.