Modern robot motion planning library based on Pinocchio.
Project description
roboplan
Modern robot motion planning library based on Pinocchio.
Refer to the full documentation for more information.
[!WARNING] This is an experimental, work-in-progress repository!
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_example_models: Contains robot models used for testing and examples.roboplan_examples: Basic examples with real robot models.
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