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.

Name		Name	Last commit message	Last commit date
Latest commit History 173 Commits
.docker		.docker
.github/workflows		.github/workflows
benchmarks		benchmarks
docs		docs
packaging		packaging
roboplan		roboplan
roboplan_cartesian_planning		roboplan_cartesian_planning
roboplan_example_models		roboplan_example_models
roboplan_examples		roboplan_examples
roboplan_oink		roboplan_oink
roboplan_rrt		roboplan_rrt
roboplan_simple_ik		roboplan_simple_ik
roboplan_toppra		roboplan_toppra
scripts		scripts
tests		tests
.clang-format		.clang-format
.clang-format-ignore		.clang-format-ignore
.clang-tidy		.clang-tidy
.clangd		.clangd
.dockerignore		.dockerignore
.gitattributes		.gitattributes
.gitignore		.gitignore
.gitmodules		.gitmodules
.pre-commit-config.yaml		.pre-commit-config.yaml
.readthedocs.yaml		.readthedocs.yaml
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
README.md		README.md
docker-compose.yaml		docker-compose.yaml
pixi.lock		pixi.lock
pixi.toml		pixi.toml
pyproject.toml		pyproject.toml