REDWOOD CITY — A judge on Thursday approved a plea agreement in the case of a San Bruno man accused of planning to kill a Planned Parenthood doctor who performed an abortion for his girlfriend.

Joel Joseph Robison, 27, pleaded no contest to a felony charge of attempted commercial burglary and a misdemeanor charge of possessing a loaded, unlicensed firearm in public, according to San Mateo County Chief Deputy District Attorney Steve Wagstaffe.

Robison was released on his own recognizance and agreed to continue psychiatric counseling, Wagstaffe said. As a convicted felon, Robison will be unable to legally possess a gun, he said.

“We think this accomplishes a good middle ground,” Wagstaffe said.

Robison decided not to enter the clinic of Feb. 17 after seeing a security guard out front, but was arrested a week later when he admitted his murder plot after checking himself into a hospital for severe depression. Robison told his doctor, who then called police.

He will be formally sentenced June 7.