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roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
kilted

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan_bindings roboplan roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-03-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan_bindings 0.2.0
roboplan 0.2.0
roboplan_example_models 0.2.0
roboplan_examples 0.2.0
roboplan_oink 0.2.0
roboplan_rrt 0.2.0
roboplan_simple_ik 0.2.0
roboplan_toppra 0.2.0

README

roboplan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental, work-in-progress repository!

Packages list

The main folders found in this repo are as follows.

  • 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_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • bindings : The Python bindings and accompanying tests.
  • docs : The documentation source.

Interactive inverse kinematics (IK) with Kinova Gen3 arm.

Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.

CONTRIBUTING