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.
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.
