# pantor/ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

Repository: https://github.com/pantor/ruckig
Canonical: https://ross.abutalabs.com/products/ruckig
Homepage: https://ruckig.com
Language: C++
License: MIT
License Family: permissive
Topics: trajectory-generation, robotics, jerk-constrained, time-optimal, motion-planning, robot-arm, optimal-control
Last push: 2026-07-15T07:07:00+00:00

## Health v2 (maintenance only)
Score: 83/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 92, release rhythm 61, longevity 100
- inputs: {"age_days": 2082, "days_push": 49, "days_rel": 49, "gap_med": 211.5, "n_releases_24m": 3}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1347, forks 263 (observed 2026-08-28T04:04:27.691651+00:00)

## What it is
Ruckig is a C++ (with Python bindings) motion generation library that calculates jerk-constrained, time-optimal trajectories on-the-fly for robots and machines. It computes trajectories from any initial state to a target waypoint within sub-millisecond real-time control loops, supporting intermediate waypoints and velocity, acceleration, and jerk limits.

## Use cases
- generate time-optimal trajectories for a robot arm in a real-time control loop
- replan robot motion instantly in response to sensor input
- smooth jerk-limited motion for CNC machining
- online trajectory generation for visual servoing
- waypoint following with joint time parametrization
- collision avoidance motion replanning

## When to choose
- you need sub-millisecond, real-time trajectory generation inside a control loop
- you require jerk, acceleration, and velocity constraints with time-optimal state-to-state motions
- you want a dependency-free C++ library with Python bindings for robotics or machine control

## When to avoid
- you need full global motion planning with complex obstacle avoidance rather than local trajectory generation
- your project is not in C++ or Python and cannot bind to them
- you need a commercial-support-grade planner and prefer the Pro version features

## Facets
- artifact type: library
- maturity: active
- function: simulation, math, sdk
- domain: robotics
- platform: cpp, python, cross-platform, windows, embedded
- tags: trajectory-generation, motion-planning, jerk-constrained, time-optimal, real-time-control, robot-arm, cnc, optimal-control, algorithms, real-time, automation, linux, macos

## Member repositories
- pantor/ruckig (main) score 83

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:27.691651+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T04:42:38.090747+00:00, confidence not recorded.
  - readme: https://github.com/pantor/ruckig (fetched 2026-08-28T04:04:27.691651+00:00, sha 9fbf9b0f93dd)
  - homepage: https://ruckig.com (fetched 2026-08-29T12:01:43.428865+00:00, sha acc9ed953d31)
  - site_page: https://docs.ruckig.com (fetched 2026-08-29T12:01:43.440192+00:00, sha 47f05e78a6ab)
  - site_page: https://releases.ruckig.com (fetched 2026-08-29T12:01:43.438371+00:00, sha 875fee02c05d)
- Data as of 2026-08-30T08:39:29.467469+00:00.