Modern robot motion planning library based on Pinocchio.

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RoboPlan

Modern robot motion planning library based on Pinocchio.

Refer to the full documentation for more information.

[!WARNING] This is an experimental repository! Until version 1.0 is released, expect some breaking changes.

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_cartesian_planning : A Cartesian planner for following task-space paths.
  • roboplan_example_models : Contains robot models used for testing and examples.
  • roboplan_examples : Basic examples with real robot models.
  • packaging : Files to help package wheels for release on PyPi.
Interactive inverse kinematics (IK) with Kinova Gen3 arm. Rapidly-exploring random tree (RRT) with dual Franka FR3 arms. Cartesian path planning with a UR5 arm.

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