plainmp
- Software
- Robot arms and industry
- Library
A C++-backed Python library for fast sampling-based motion planning and collision-aware inverse kinematics, mostly approximating robot bodies with spheres.
Source on GitHub: github.com/HiroIshida/plainmp (opens in a new tab). Facts read at commit f1151eb (opens in a new tab).
Licenses
- Code
- MPL-2.0 (opens in a new tab)
Read by Robotheca from LICENSE-BSD3 (opens in a new tab) (MPL-2.0) at commit f1151eb (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Provides sampling-based motion planning, with RRTConnect reported at under 1 ms for moderate problems.
- Includes a collision-aware inverse kinematics solver.
- Supports planning and IK for models such as movable bases, dual-arm robots and attached objects.
- Checks collisions against primitives like spheres, boxes and cylinders, and against point clouds.
- Offers beta constrained planners, including a sampling-based one for whole-body humanoids and an SQP-based smoother.
- Ships a framework for defining robot models and planning problems, with a script to convert bubblify sphere output.
Written by Robotheca from the project's README (opens in a new tab) at commit f1151eb.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 27 Sept 2026 on master
- Latest release
- 0.3.3 (18 Jul 2025)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.