RoboPlan
Modern robot motion planning library based on Pinocchio.
Refer to the full documentation for more information.
Packages list
The main folders found in this repo are as follows.
docs: The documentation source.roboplan_core: The core C++ library.roboplan_common: Shared utilities such as Python install helpers and CMake macros.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.superbuild: Shared CMake entry point for local, Conda, and PyPI-wheel builds.
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