RoboPlan

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_core : The core C++ library.
• roboplan_common : Shared utilities such as Python install helpers and CMake macros.
• 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.
• superbuild : Shared CMake entry point that builds every package in one tree (Pixi, vanilla CMake, and PyPI wheel builds).

Changelog for package roboplan

0.7.0 (2026-09-19)

• Fix metapackage builds with colcon symlink install (#334)
• Use pixi-build to declare Conda dependencies for each package (#301)
• Make cmeel packages independently buildable (#312)
• Drop [scikit-build]{.title-ref} in favor of direct usage of [cmeel]{.title-ref} (#304)
• Constrain scope of DLL loader manipulation (#302)
• Create CMake superbuild to consolidate build config (#295)
• The former [roboplan]{.title-ref} package was renamed to [roboplan_core]{.title-ref}; this is a new metapackage.
• Contributors: Ezra Brooks, Sebastian Castro