I am very grateful to Wei Wang for offering to post his conversion of MSL to Windows XP. Below is his message. Steve LaValle 25 May 2008 In this package, I extracted the core module of MSL to form a static link library without the GUI application. The rest code of MSL is assembled to form the GUI, called Planner, which is related to the sepecific graphic toolkit. In addition, I integrated inverse kinematic computing toolkit IKAN (Developed by University of Pennsylvania) for arm motion planning. All of the code should be compiled on visual studio 2003 or higher. If you like, You can directly run file run.bat in the path ./msl/bin without any further compilation. I hope the new released MSL based on MS-Windows will offer help to those who pay the same interest in RRT and its extending application. Wei Wang Institute of Automation College of Mechatronics and Automation National University of Defense Technology