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

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning roboplan_example_models roboplan_examples roboplan_oink roboplan_rrt roboplan_simple_ik roboplan_toppra

ROS Distro
lyrical

Repository Summary

Checkout URI https://github.com/open-planning/roboplan.git
VCS Type git
VCS Version main
Last Updated 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).
No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

roboplan repository

roboplan roboplan_cartesian_planning 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 2026-07-07
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
roboplan 0.5.0
roboplan_cartesian_planning 0.5.0
roboplan_example_models 0.5.0
roboplan_examples 0.5.0
roboplan_oink 0.5.0
roboplan_rrt 0.5.0
roboplan_simple_ik 0.5.0
roboplan_toppra 0.5.0

README

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 : 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.

CONTRIBUTING

Contributing to RoboPlan

Thank you for considering a contribution to RoboPlan!

For full contribution guidelines, please see the Contributor Guide.

# Contributing to RoboPlan Thank you for considering a contribution to RoboPlan! For full contribution guidelines, please see the [Contributor Guide](docs/source/getting_started/contributor_guide.rst).