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.

roboplan : The core C++ library.
roboplan_simple_ik : A simple inverse kinematics (IK) 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.
bindings : Python bindings, with accompanying examples and tests.
docs : The documentation source.

Name		Name	Last commit message	Last commit date
Latest commit History 67 Commits
.docker		.docker
.github/workflows		.github/workflows
benchmarks		benchmarks
bindings		bindings
docs		docs
external		external
roboplan		roboplan
roboplan_example_models		roboplan_example_models
roboplan_examples		roboplan_examples
roboplan_rrt		roboplan_rrt
roboplan_simple_ik		roboplan_simple_ik
roboplan_toppra		roboplan_toppra
scripts		scripts
.clang-format		.clang-format
.clang-format-ignore		.clang-format-ignore
.clangd		.clangd
.dockerignore		.dockerignore
.gitattributes		.gitattributes
.gitignore		.gitignore
.gitmodules		.gitmodules
.pre-commit-config.yaml		.pre-commit-config.yaml
.readthedocs.yaml		.readthedocs.yaml
LICENSE		LICENSE
README.md		README.md
docker-compose.yaml		docker-compose.yaml
pixi.lock		pixi.lock
pixi.toml		pixi.toml